One of the weekend spent in home gave as a chance to register video of copters flight. Usually we are flying in bigger field, but on weekend time it was busy with too many people, so we went with son to empty school playground.
First flight was done with Hexacopter
Next we fly with Quadrocopter
Next place is nice, because is empty on weekend, unfortunately it has many trees and is placed in aerodynamic shadow behind high building. Wind blowing from building side makes unstable pressure conditions, so copters had problems with altitude stability. Any way it is good testing place.
Here are logs from both flights. It can be viewed with dedicated software available on the site of AutoPitLot on-board computer or it can be read into spreadsheet. In second case please remove manually second line with units, because some spreadsheets like Open Office Calc has problem with presence of it.
Example graph of altitude PID regulator looks like on the picture below. On the open graph is setpoint valie with oragne line and current altitude with blie line. Bottom graph shows elements of PID regulator: output of "P" stage is marked with red, "I" is marked with green and "D" is marked with blue. Yellow line is the final value of control.