**Zero integral when throttle is low** - What is this?

**Definition of terms:**

PID - Proportional Integral Derivative

Integral - in flight stabilization terms this is responsible in holding your platforms last angle, the values of Integral is mixed by a mixer

which is built-in inside the gyro accelerometer IC (MPU6050, iNEMO, Etc..). When values are mixed what is does is it makes

your platform stable (a lot happens i just made it short

)

**Situation:** **Zero integral when throttle is low - DISABLED** when you dont enable this

**Zero integral when throttle is low** most of the time your quad will flip on take off.

If you dont flip on take off you may flip mid flight unexpectedly and you will experience funny flying characteristics

like very twitchy that it wants to flip. you will also notice that if

**Zero integral when throttle is low** is not enabled

your throttle will feel funny when taking off, your throttle may rev up on its own, or when you throttle up not all motors

spin at the same time.

**Zero integral when throttle is low - ENABLED** when enabled you will instantly feel the change, when you throttle up motors spin all at the same time, your throttle is stable

when taking off it doesn't rev up on its own, your platform will not flip on mid air (assuming your on attitude and don't want to flip).

**Explaination:** just a simple example imagine your normal multiplier for correction is 5, when your platform detects unwanted movement on a axis

it applies the correction multiplier which in this example 5 this will be multiplied to your PID's imagine your I is not 0 and the value

it started at is 1000 since

**Zero integral when throttle is low is DISABLED** on every correction it wants to make it will multiply

your correction multiplier to 1000 so 5 x 1000 = 5000 so just imagine what kind of correction this will do to your platform it will make

it crazy example 10 correction factor is = 1 degree angle so 5000 is 500 degree angle, you want your platform to correct itself at a rate

of 500 degree angle? you will flip for sure and make your platform impossible to control

please

**Zero integral when throttle is low - ENABLED**