After stick input, low-authority builds🚁 FPV Drone

I-term windup — won't settle, holds an angle after a stick input

After a stick movement, the quad holds a tilted angle instead of returning cleanly to level.

💡 The idea: I-term has grown too large and isn't being reined in.

Try these in order

Make one change at a time and re-test — that's how you learn what your car likes.

  1. 1
    Lower the iterm_windup limit / verify I-term Relax is active

    Prevents excess I growth, especially on low-authority quads.

  2. 2
    Lower I gain on the affected axis directly

    Simplest direct fix.

Found what works? Save it as a Setup Sheet and compare it against your baseline, log the result in your Run Log, or dig deeper in the RC Wiki.

General RC tuning guidance — your chassis manual's own tuning chart is the final word for your specific car.