Just like many other flight controller, when tuning PID I always start with P, then I, and lastly D. Sometimes I go back and find tune P and I, as D changes the effect P and I it has on the quadcopter. The concept of PID has been explained a few times in my previous post, and previous previous post. The Naze32 works pretty well straight out of the box, on my mini quad with stock PID. I did changed a few CLI parameters, before I start playing around with PID.
In this video I tried flying in acro mode all the way with default PID settings. The result is as good as expected, pretty smooth and almost jello free. I could probably reduce P and I a bit more, and increase D.
In this video, I basically use the following PID as the starting point, increase and decrease P to see the effect it has on the quadcopter. I also change I at the end to see what happen. I didn’t change D in this video. I also compared the video quality when flying with horizon mode (self-level), and rate mode (acro mode).
Remember you can only tune your Roll, Pitch, Yaw PID under “Rate Mode”, known as “Acro Mode” in KK2. Only when this is tuned you can move on to self level mode (Horizon/Angle Mode), and tune your ‘Level’ PID there.
A recent video