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QG4/docs/tr/qgc-user-guide/setup_view/tuning_ardusub.md

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ArduSub Tuning

ArduSub Tuning Page

Basic Tuning

This page allows changing the PID controller gains to better suit your vehicle and application. Changing these may help you get a snappier response for more precise movements, or a smoother response for recording cinematic footages. Adjust a parameter by moving the desired slider, or by clicking the increase/decrease buttons. There are three controllers that can be adjusted here:

  • Attitude Controller Parameters are the parameters for the controller responsible for keeping the vehicle oriented as you want it, assuming your vehicle has ability (enough motors/DOF) to do so.

  • Position Controller Parameters are the parameters for the controller responsible for positioning the vehicle at a point in 3D space. The Z parameters control how the depth control works (eg in Depth Hold mode). The XY parameters affect how the vehicle controls the horizontal position in Position Enabled modes.

  • Waypoint Navigation Parameters are the parameters for the controller responsible for following waypoints in Auto and Guided mode.

    ::: warning Guided and Auto modes are currently unsupported and some features are disabled in QGC. :::