Hi Everyone!

Previous videos to watch first:
Filters -    • Betaflight filter tuning. The easy wa...  
PIDs -    • Betaflight PID tuning. The easy way t...  
Rates -    • Betaflight Rates tuning. How to make ...  

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In this video we are going to take a deeper look at the theory of PID tuning and the more advanced tools and techniques you can use to get your quad flying its best.

Timestamps:
0:00 - Intro
0:27 - PID tuning process
0:59 - Dynamic Idle
5:58 - Corrected BF PID-F Controller diagram
6:34 - Key ratios for PID controller
10:18 - Changing Noise Sensitivity (Finding max D gain)
11:53 - Changing Step response (P:D ratio)
12:46 - Changing I term response (I:P ratio)
13:24 - Fine tuning, no sliders
14:08 - Tuning Noise Sensitivity (Finding max D gain)
15:15 - Tuning throttle PID attenuation (TPA)
18:34 - Tuning Step response (P:D ratio)
20:09 - Tuning I term (I:P balance)
21:13 - Why I think high I gains are a good thing
23:18 - Tuning I term relax
24:11 - Tuning Antigravity Gain
25:17 - Fine tuning feedforward
27:00 - Using Dmin to tame overshoot
31:42 - Outro