User Manual

4. PROGRAMMING THE GYRO SETTINGS:
PID (Proportional Integral Differential) correction
The stabilising effect of the gyro sensors is based fundamentally on three parameters:
P factor: defines proportional correction
P = proportional: if the intended value is not the same as the actual value, then the difference
is fed proportionally into the corrective signal; in simple terms, the input value (e) is multiplied
by a fixed value: u(t) = Kp*e(t). Kp is termed the amplification value. The output value is
therefore proportional to the gyro’s input value. Proportional correction cannot occur until a
deviation from the intended value is present; if the deviation is 0, then the product is also zero.
If the amplification value is set too high, the P factor causes the model to oscillate and become
unstable.
I factor: integral correction (not currently implemented)
D factor: defines differential correction