adelphysi:
a big mistake to consider P gain of mine equals the same gain of standerd PID sys ! you cant just erase the setpoint from the standerd PID and multiply it with the same gain! and wait to see results !
I am not saying that it is the same - I am trying to describe to you how it will behave.
I am specifically pointing out that it acts differently, and in a way that is far from desirable (unless you have very odd ideas about what kind of control you want).
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adelphysi:
have you learned the code i have published ?
What code? The only 'complete' code I've seen is from your other post and contains errors that would prevent the QC from ever getting into the air like sending two of the motors a zero microsecond pulse. So it is clearly not your current code.
adelphysi:
the minus values may not be always as you mention , reading the code deeply will help
Ok, can you explain what they will be and not just make a vague statement? I think you need to understand your code. So far it seems you are just making guesses and assumptions, unless you are not telling us everything here.
adelphysi:
comparing it to controller code on this site will be easier to understand
YMFC-3D V2 - The easy Arduino quadcopter - Source code downloads and more.
No, this is a standard PID controller. It is NOT what you are doing.