Autonomous Trajectory Tracking Control for a Large-Scale Unmanned Helicopter under Airflow Influence

Table 2

PID gains and Trim values used in the real flight and HIL simulation test.

Channels and Trim	Gains	Values	Gains	Values
Roll Channel		0.6		0.27
Yaw Channel		0.7		0.6
Pitch Channel		1.0		0.42
Height Channel		0.2		0.2
Longitudinal Channel		0.43		2.0
Latitude Channel		0.3		2.0
Trim(°)	Pitch	0.8	Roll	-2.0