Compute starting PID values from Ziegler-Nichols ultimate gain method, or start from firmware presets and adjust with sliders.
Select the symptom you're experiencing. Wingman will diagnose the most likely cause and provide the fix.
Generate Betaflight CLI commands from your tuning values. Paste directly into the CLI tab in Betaflight Configurator.
Visualize where different noise sources live in the frequency spectrum and how filters interact with them.
Upload a Blackbox log or CSV to run real FFT analysis. Identifies noise peaks, motor harmonics, and frame resonances â then recommends filter and PID settings.
Or paste raw gyro values manuallyâ¦
Determine recommended filter settings based on your hardware and noise profile.
Quick reference for recommended PID ranges, filter settings, and special considerations per quad class.
| Class | P | I | D | FF | Notes |
|---|---|---|---|---|---|
| Tiny Whoop | 30-50 | 60-100 | 15-30 | 60-100 | 48KHz PWM; thrust_linear=25; low authority |
| 3" Cinewhoop | 35-55 | 70-110 | 20-40 | 80-130 | Prop guards add drag; reduced authority |
| 5" Freestyle | 40-65 | 70-120 | 25-45 | 80-140 | Standard target; wide I range |
| 5" Racing | 50-75 | 70-100 | 25-40 | 120-200 | High FF; low latency; iterm_relax=30 |
| 7" Long Range | 35-55 | 50-90 | 20-35 | 60-120 | Conservative; iterm_relax_cutoff=10 |
| 8-10" Cinelifter | 25-45 | 40-80 | 15-30 | 40-100 | Heavy; low D to avoid motor heat |
| Fixed Wing (BF 4.6) | 5-50 | 5-50 | 5-30 | â | S-term primary; SPA I_FREEZE; TPA=airspeed |
Overview of classical and modern PID tuning algorithms applicable to drone flight controllers.
Increase P until sustained oscillation â record ultimate gain Ku and period Tu â apply formulas. Creates quarter-wave decay. Often too aggressive for drones â use as starting point only.
| Type | Kp | Ti | Td |
|---|---|---|---|
| P | 0.50·Ku | â | â |
| PI | 0.45·Ku | Tu/1.2 | â |
| PID | 0.60·Ku | Tu/2 | Tu/8 |
Less aggressive alternative. Better suited for systems where quarter-wave decay causes problems.
| Type | Kp | Ti | Td |
|---|---|---|---|
| PI | 0.31·Ku | 2.2·Tu | â |
| PID | 0.45·Ku | 2.2·Tu | Tu/6.3 |
Replaces PID with an ON/OFF relay to produce controlled limit cycle. Safer than direct Z-N cycling â output stays close to setpoint, no risk of runaway instability. Basis for ArduPilot's AutoTune which performs controlled "twitches" per axis.
FPVtune: Trained on thousands of real blackbox logs. Analyzes gyro noise spectrum, step response, D-term resonance â generates optimized PIDF + filter CLI commands. Supports BF 4.3-4.5+. Accounts for RPM filter presence and flying style.
Neuroflight â First NN drone controller (2018). Replaces PID entirely. Trained in simulation to adapt to changing conditions.
RAPTOR â Single NN policy across 32g-2.4kg quadrotors (2025).
TD3 Curriculum â 94% success in dynamic mass scenarios, 60%+ error reduction vs static PID.
MRAC â Adaptive control for unknown payloads, outperforms static PID on PX4.
Describe your quad, symptoms, or paste Blackbox data. Wingman AI will analyze and recommend PID/filter settings â all sessions are logged to the database.
Every tuning interaction is logged locally. Export sessions to the Forge troubleshooting database for community knowledge.