Kiss FC Tuning // Max Out That i Value!

The kiss tuning saga continues. Lessons over the past 24 hours.

1) setting curve to zero is bad. It forced me to set "rate" to a fairly high value (0.87) in order to get center stick feel soft enough for 700deg/sec. This also caused the rate curve to feel jumpy after 50% travel and I found myself rolling the quad into the ground b/c the rates would jump exponentially so quickly. I decided to try the "power of seven" and found it works really well. 0.7 RC rate, 0.77 rc curve, and 0.02 to 0.05 curve. Rates are predictable now and feel good.

2) MAX out that i term! For racing...why not? It makes the quad track better and provides tighter stick feel. I increased my i values on my qav210 w/gopro to around 0.85 on all axes. I used to max out the i term on betaflight as well, not sure why it took me so long to do the same on KISS. Feels so much better now for racing.

This is the same powertrain and frame I used at IDE in 2016. I think it's starting to feel just as tight and predictable, but maybe smoother thanks to the KISS PID controller. I think the tune is now 95% of the way there. Rates might need a little more tweaking, but it's pretty darn good right now!