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Table 1 Proportional-integral-derivative parameter

From: Simulating unmanned aerial vehicle flight control and collision detection

Gesture of unmanned aerial vehicle

Proportional P

Integral I

Differential D

Pitch angle

2.7

0.03

0.75

Roll angle

2.8

0.04

0.80

Yaw angle

4.4

0.06

1.50

Height

3.0

0.08

1.25