# Supports changing PID parameters

**URL:** <https://discuss.px4.io/t/supports-changing-pid-parameters/37606>\
**Category:** PX4 Autopilot\
**Created:** [April 3, 2024, 7:06am UTC](https://discuss.px4.io/t/supports-changing-pid-parameters/37606 "2024-04-03T07:06:10Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![huytd\_2910](https://discuss.px4.io/letter_avatar_proxy/v4/letter/h/77aa72/32.png) [@huytd\_2910](https://discuss.px4.io/u/huytd_2910)\
**Post date:** [April 3, 2024, 7:06am UTC](https://discuss.px4.io/t/supports-changing-pid-parameters/37606/1 "2024-04-03T07:06:10Z")

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Hello, I just built a quadcopter with a 21-inch propeller. However, when taking off, there are a few problems with the knife and vibration. Can anyone give me advice on which parameters to adjust accordingly, thanks.  
**This log is due to strong winds at the end.**  
[https://review.px4.io/plot\_app?log=f69ef4b7-aec9-4ab6-abea-eb950840912b](https://review.px4.io/plot_app?log=f69ef4b7-aec9-4ab6-abea-eb950840912b)

**This log means vibrating**  
[https://review.px4.io/plot\_app?log=07a9b244-95be-4f9d-85ac-d2d5eeb85bbe](https://review.px4.io/plot_app?log=07a9b244-95be-4f9d-85ac-d2d5eeb85bbe)

**This log is out of control**  
[https://review.px4.io/plot\_app?plots=pid\_analysis&log=45fbb433-f42a-45b2-b96f-8e1a5d7d271f](https://review.px4.io/plot_app?plots=pid_analysis&log=45fbb433-f42a-45b2-b96f-8e1a5d7d271f)

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<div class="post-metadata">

**Author:** ![Simone\_Ciresa](https://discuss.px4.io/user_avatar/discuss.px4.io/simone_ciresa/32/16190_2.png) [@Simone\_Ciresa](https://discuss.px4.io/u/Simone_Ciresa)\
**Post date:** [April 9, 2024, 8:15am UTC](https://discuss.px4.io/t/supports-changing-pid-parameters/37606/2 "2024-04-09T08:15:47Z")

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I’m not an expert, but I would suggest to try in Manual/Stabilized mode, before going to Position.  
Or even Acro if you feel confident enough. In this way you could get more insights on the rate controllers and adjust them if needed. If I’m not wrong you are using the default parameters for the rate gains (you can find them here)

 ![Screenshot from 2024-04-09 09-59-37](https://discuss.px4.io/uploads/default/original/3X/f/8/f8b4cac9e70da716a93b797f6a736bee05893aa1.png)  
These in general should be fine and may require some fine tuning. I prefer to increase a little bit P and reduce I gains, but this depends on your drone.  
Not sure if you already followed the [tuning guide](https://docs.px4.io/v1.14/en/config_mc/pid_tuning_guide_multicopter_basic.html#multicopter-pid-tuning-guide-manual-basic)  
If also when changing the rate gains you get those vibration, it may be a problem with the design or build of you drone. If you could share more information I think someone could give you more advice also on that side