This module allows you to tune stabilization parameters with the aid of the auxiliary channels on your transmitter. When enabled, the selected tuning parameters will be continuously updated on your board and are immediately in effect.
Enable the module
By default, the module is not enabled to "save memory" on CopterControl. If you want to use the module, the first thing you need to do is enable it.
Click Enable TxPID module, then click Save to store your option, then power cycle the board.
You can adjust a maximum of 3 independent instances. Each instance can control a stabilization value based on a transmitter input.
In the following example we will control the Kp value from the roll rate stabilization on the inner loop.
Suppose we have a transmitter with a variable knob assigned to an aux channel of the receiver. The channel should already be detected and calibrated accordingly in the Input Configuration. In above example, the channel is bound to Accessory0.
We select the PID option Roll Rate.Kp and assign it to our Accessory0 Control Source. Furthermore, we set the Min of the range on 0.015 and the Max of the range on 0.0095. This way, the knob on the TX will set the value 0.0015 as Roll Rate.Kp when turned on minimum and 0.0095 when fully turned on maximum.
It is important to note that the adjusted values are not stored permanently onto your board (unless you have changed other values and saved whole object - see below). If you have adjusted the stabilization values via your TX, then you still need to save these to the permanent Flash memory of your board via the GCS Stabilization Panel.
The stabilization values you have been tuning with the TxPID are active on your board as long as the board is not restarted. If you connect the board to the GCS, these values will be loaded and transferred in the Stabilization Panel. You can now review and save the values permanently.
If the TxPID module was active and you didn't reboot your board, then these updated values are loaded from the board into the GCS. It's important to know that if you want to change and save another value in the Stabilization Panel you are also saving the values from the TxPID module at this point. The values which were actively controlled by the TxPID module are not permanently stored on the board. But, if you connect the board to the GCS, these values are immediately loaded into the GCS, so you are saving them along with other changes you would make in the Stabilization Panel. This may sound very normal and logical, but you should remember this when you are adjusting another value in the Stabilization Panel via the GCS which is not controlled by the TxPID module.
Once you have completed your tuning and are no longer using the module, it's advised to disable the TxPID Module. Uncheck Enable TxPID Module, click save and reboot or power cycle your board.
Step by step video
Dacat made a step by step video which covers the TxPID module and configuration.
fredz69 made a step by step video tutorial which covers the TxPID module in the new GCS and basic flight tuning.
If the control channel of your TX doesn't correspond with the full range you have specified for the PID stabilization value, then most likely the neutral set-point of your control channel isn't set in the middle.
If you want a linear output curve of the PID option value you should set the neutral set-point of the control channel in the middle. The neutral set-point can be set in the Input Configuration. If you don't want to have the average value of the PID option in the middle of the control source, you can shift the neutral point of your control source.
If you want to change other values apart from the ones specified in the TxPID module, make sure that the module is not currently updating the values. You can change the Update Mode to Never or to When Armed and disarm the board to be able to change the other values in the Stabilization Panel via the GCS.
Please make sure that the endpoints of the channel you are using are correctly specified or detected in the Input Configuration.
The GCS will update the values in the Stabilization Panel with the values from your board. If you connect the board to the GCS and want to change some other stabilization values which were not controlled by the TxPID module, then note that the values from the TxPID module were also transferred to the GCS if this module was enabled and active before.
Thus, if you click Save, then you are also saving the values from the TxPID module together with the manually adjusted values in the Stabilization Panel.