飞机表现出什么现象才叫调好了？

早解决了 因为电机与螺旋桨同轴度太低 高速旋转时机架剧烈抖动 干扰到了角速度数据的反馈了
后来换了大疆的自锁浆 又换了一副碳纤维机架 才保持了高度的稳定性 后来我调了将近一个月的参数我两个小时就调好了

float PID_Postion_Cal(float target,float measure,float p,float i,float d)
{
        float out;
        error=measure-target;
        Integ+=error;       
        if(Integ>400)
                Integ=400;
        if(Integ<=-400)
                Integ=-400;
        Deriv=error-last_error;
        out=p*error+i*Integ+d*Deriv;
        last_error=error;
        return out;
}
void PID(struct _out_angle *angle,struct _gyro *gyro_filter)
{
        Pitch_shell_out=PID_Postion_Cal(0,angle->pitch,Pitch_shell_kp,Pitch_shell_ki,Pitch_shell_kd);
        Roll_shell_out=PID_Postion_Cal(0,angle->roll,Roll_shell_kp,Roll_shell_ki,Pitch_shell_kd);
        Yaw_shell_out=PID_Postion_Cal(0,angle->yaw,Yaw_shell_kp,Roll_shell_ki,Roll_shell_kd);
       
        Pitch=PID_Postion_Cal(Pitch_shell_out,gyro_filter->y,Pitch_core_kp,Pitch_core_ki,Pitch_core_kd);
        Roll=PID_Postion_Cal(Roll_shell_out,gyro_filter->x,Roll_core_kp,Roll_core_ki,Roll_core_kd);
        Yaw=PID_Postion_Cal(Yaw_shell_out,gyro_filter->z,Yaw_core_kp,Yaw_core_ki,Yaw_core_kd);
       
        thro1=(u16)(temp+Pitch+Roll-Yaw);
        thro2=(u16)(temp-Pitch+Roll+Yaw);
        thro3=(u16)(temp-Pitch-Roll-Yaw);
        thro4=(u16)(temp+Pitch-Roll+Yaw);
       
        if(thro1>1500)thro1=0;
        if(thro2>1500)thro2=0;
        if(thro3>1500)thro3=0;
        if(thro4>1500)thro4=0;
       
        Motor_Out(thro1,thro2,thro3,thro4);
        Send_MotoPWM(thro1-1000,thro2-1000,thro3-1000,thro4-1000,Pitch_shell_out+200,Pitch+500,Yaw,0);
       
       
}
贴下我的PID程序

有没有大佬接触过自主调节PID的算法啊 调的我快崩溃了

大佬们别光看啊 说两句啊