How to change PID in flight during a Mission

Ground Control Software Mission Planner
1

Hello everyone
I’m studying how to change PID in flight during a mission with Ardupilot and Mission Planner.

I know the PID tuning procedure through channel 6 but I can not find any command that allows to change the PID through a switch. Imagine that the drone during the flight becomes heavier, it is necessary to change the PID to a value previously tested.
I would therefore like, in flight, to make a switch that changes the PIDs and then continue the mission.

does anyone know how it could be done?
thank you

2

As far as I am aware, it can’t be done.

3

you can change the pids in flight from a GCS. however it is NOT advised, as a bad value will result in a crash.

1 Like
4

how i can change pid in flight ? Using mavlink Command?
thanks

5

Pid’s are stored as parameters in the FC, and you can change parameter via mavlink command or via MP’s GUI. However as Michael said it is not advised…

6

Why not just use the CH6 function but instead of a pot or slider allocate it to a switch.
Setup you min and max rates to the values you want.

If you wanted to change a few PID’s at once you probably could do it with a script and Mavproxy or similar.

But I will echo what @Michael_Oborne tried to tell you, DON’T DO IT.
To illustrate, back in the ‘good old days’ when you had to tune by hand, it was a long and tedious process.
So using a second person on the GCS making changes to the PID settings while flying was the logical way to do it.
Until of course the user made a mistake.
In my case it was forgetting to put in a decimal point so instead of 9.000 going in 9000 went in.
The crash was spectacular, and I believe the hex managed to do 4 or 5 flips from only 10m up before driving itself hard into the ground.

When you make any PID changes you need to carefully test them.