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. 2020 Oct 10;111:102324. doi: 10.1016/j.adhoc.2020.102324

Table 7.

PID Parameters

Parameter Purpose Effect
Proportional (P) Deals with present error Increasing this parameter increases sensitivity of the UAV. Too high a value can make it difficult to control the UAV.
Integral (I) Deals with past errors Increasing this decreases wobbling of the UAV. Too high a value can make the UAV too rigid.
Derivative (D) Deals with future errors Increasing this counteracts the over-sensitivity caused due to the proportional gain parameter preventing sudden movements. Too high a value can cause vibrations in the UAV leading to overheating.