Units of PIDdesired/PIDacheived

Hi all,

How can I determine the units of PID desired and PID acheived while tuning each of the controllers. I know that each controller output will have different units, but I wanted to know how to interpret each of the graphs I make as I tune my rover to help me with trouble shooting incase some of my electronics are not set up correctly.


The steering controller minimizes turn rate error. If GCS_PID_MASK is set to 0 (Steering). The PID-desired and PID-achieved will be desired-rate and achieved-rate respectively.
If I remember correctly, rate is reported in cdeg/sec.

I am less confident about other values shown by the bitmask.
I hope this helps. :slight_smile: