Grab the orange “handle” and move it. The PID controller tries to make the “follower” follow the handle. PID gains don’t relate to real drones in any way. It’s all just conceptual.

Mass and Drag sliders adjust the physical properties of the “follower”, to make it behave more like a real object vs. a mathematically perfect simulation. Default values shouldn’t need to be changed.

Delay slider adds delay between the PID loop output and the follower, similar to how it takes time for the motors of a drone to change speed. Without delay, there is no “runaway” at high P gains.

Noise injects high-frequency noise into the system, When D gain is too high, the “motor heat” gauge will increase. If “noise” is zero, there isn’t much penalty for excess D gain.

CG moves the center of gravity of the “drone” off center, to induce a constant offset. Without this, there wouldn’t be any need for an I term.

Click the Maximize button on the Scope to make it full screen for more detailed viewing.