CleanFlight PID Controller 3, 4 and 5
New PID controllers (PC) have been added to the Cleanflight (CF) firmware. We discussed the three PID controllers 1, 2 and 3 in Part one. This post is part of the Cleanflight setup guide.
However, 3 more PC’s was just added to CF literally just a few hours ago (29 Jan, 2015). I am sure not many people has used them yet including myself. I will update this post again when we have conclusion how these PC performs.
PID Controller 3 – MultiWii23
This is a direct port of of Multiwii 2.3 algorithm.
The algorithm is handling roll and pitch differently to yaw. Users with problems on yaw authority should try this one.
PID Controller 4 – MultiWiiHybrid
This is combination of MW2.2 and MW2.3. Roll and pitch is using the MultiWii 2.2 algorithm and yaw is using the 2.3 algorithm.
PID Controller 5 – Harakiri
This PID controller is a port from Harakiri firmware.
Here is the CF official documentation.
4 comments
Hi Oscar
I thought it would be good to let people know that you can save different PID versions to profiles 1,2,or3 and easily swap between them using stick commands, so that you can try the different versions back to back.
Link to stick commands guide github.com/cleanflight/cleanflight/blob/master/docs/Profiles.md
when you use the stick commands, it beeps once for profile 1, twice for profile 2 and three times for profile three.
Thanks Chris, yes that’s true…
i think i also pointed that out in my Cleanflight/Baselfight guide…
Hi Oscar,
I think you need to update your PID controller titles on this page.
PID Controller 4 = MultiWiiHybrid
PID Controller 5 = Harakiri
Thanks SinFulNard, I will revisit this page shortly :) thanks for the heads up!