Hi, I’m trying to understand and tune the PSC PIDs and to me it seems that position I is missing.

Moreover there are some inconsistencies between horizontal and vertical terms (but all the terms seems covered thanks to explanation by @iampete)

Current terms are:

```
POSXY P
POSZ P
VELXY PID
VELZ P
ACCXY –
ACCZ PID
```

So we already have terms doing same thing (POSXY P = VELXY I and VELZ P = ACCZ I). But we’re missing position I (both horizontal and vertical), right?

If I understand it well, vertical velocity terms not missing as VELZ I = POSZ P and VELZ D = ACCZ P.

Default values are:

P | I | D | |
---|---|---|---|

POSXY | 1 | – | – |

POSZ | 1 | – | – |

VELXY | 2 | 1 | 0.5 |

VELZ | 5 | – | – |

ACCXY | – | – | – |

ACCZ | 0.5 | 1 | 0 |

Is it correct to have duplicate terms? Maybe one has to be set to zero?

E.G. is this a consistent setup both on XY and Z?

P | I | D | |
---|---|---|---|

POSXY | 1 | – | – |

POSZ | 1 | – | – |

VELXY | 2 | 0 | 0.5 |

VELZ | 2 | – | – |

ACCZ | 0.5 | 0 | 0 |

In SITL these settings seems to set a constant Z offset above target position. (Raising VELZ_P can reduce the offset)

How can I add position I term?

## EDIT

Leonard answered that