ArduPilot PID Review Tool

This tool takes a .bin log with RATE or PID messages and shows the time and frequency content of the rate controller target, response and output. To record the full set of PID components the PID bit of the LOG_BITMASK parameter must be set before flying. The RATE log message is enabled by default and can also be used by this tool. Here are more details about this tool and how to use it.

Setup

FFT Settings

Window size

Analysis time Start (s)

End (s)

Axis

RATE Roll
RATE Pitch
RATE Yaw

PIDR
PIDP
PIDY

PIQR
PIQP
PIQY

PIDS
PIDA

Flight Data

Time domain

Frequency domain

PID

Inputs Target Actual Error

Components P I D FF D FF

Output PID + FF + D FF

Logging rate: Hz

Frequency resolution: Hz

Tests

Amplitude scale Linear dB Power Spectral Density

Frequency scale Linear Log Hz RPM

Step Response

PID Spectrogram

PID component Target Actual Error P I D FF D FF Output