PD Controller Tunning

[aseyfi]

What are the steps for tuning the controller? I have a few minutes to tune the controller before the drone's battery dies, so that would be really helpful if you give some instructions on it.

Thank You

[NilsL3]

Sorry for replying a little late. I recall tuning only the proportional term first in 0.1 increments starting from zero. Once I had a decent response, this is a relatively slow forwards speed (to prevent tracking loss), I started to tune the derivative term in 0.01 increments starting from zero in order to dampen the proportional term. I hope this helps.