Chapter 11. PIDs
Hidden between mode and mix we find the proportional–integral–derivative (PID) controller. On the one hand, it’s just a little smoothing filter applied to the axis commands before sending them to the motors. On the other hand, as a drone maker and pilot, you may well spend more time dealing with PIDs than any other component of the control system—not changing the algorithm, since that comes in but a few standard flavors, but tuning the PID’s parameters. And few things will make as much difference in how your drones fly!
The Algorithm
As with gyroscopic stabilization, at least some of the credit for the PID algorithm goes to the Sperry family. In this case it was Elmer Sperry, father of Lawrence, who built the first autopilot ...
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