{"id":9007,"date":"2026-07-15T15:23:07","date_gmt":"2026-07-15T06:23:07","guid":{"rendered":"https:\/\/www.nkozawa.com\/blog\/?p=9007"},"modified":"2026-07-15T15:23:07","modified_gmt":"2026-07-15T06:23:07","slug":"%e7%84%a1%e8%aa%b2%e9%87%91%e3%81%8a%e3%81%98%e3%81%95%e3%82%93%e3%80%81bb-tune%e3%81%a7pid%e3%83%81%e3%83%a5%e3%83%bc%e3%83%b3%e3%82%92%e8%a9%a6%e3%81%99","status":"publish","type":"post","link":"http:\/\/www.nkozawa.com\/blog\/archives\/9007","title":{"rendered":"\u7121\u8ab2\u91d1\u304a\u3058\u3055\u3093\u3001bb-tune\u3067PID\u30c1\u30e5\u30fc\u30f3\u3092\u8a66\u3059"},"content":{"rendered":"<p>\u300c<a href=\"https:\/\/www.nkozawa.com\/blog\/archives\/8989\">\u7121\u8ab2\u91d1\u304a\u3058\u3055\u3093Betaflight-MCP\u3092\u4f7f\u3046<\/a>\u300d\u306e\u7d9a\u304d\u3067\u3059\u3002<\/p>\n<p>Betaflight-MCP\u306fAI\u3068Betaflight 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http:\/\/www.nkozawa.com\/blog\/wp-content\/uploads\/opencode-bbtune-comp-768x635.png 768w, http:\/\/www.nkozawa.com\/blog\/wp-content\/uploads\/opencode-bbtune-comp.png 1190w\" sizes=\"auto, (max-width: 300px) 100vw, 300px\" \/><\/a><br 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class=\"hcb_wrap\">\n<pre class=\"prism line-numbers lang-json\" data-lang=\"JSON\"><code>{\r\n\u00a0 \"$schema\": \"https:\/\/opencode.ai\/config.json\",\r\n\u00a0 \"mcp\": {\r\n\u00a0 \u00a0 \"betaflight\": {\r\n\u00a0 \u00a0 \u00a0 \"type\": \"local\",\r\n\u00a0 \u00a0 \u00a0 \"command\": [\"node\", \"server\/server.js\"]\r\n\u00a0 \u00a0 }\r\n\u00a0 },\r\n\u00a0 \"skills\": {\r\n\u00a0 \u00a0 \"paths\": [\".opencode\/skills\/bb-tune\"]\r\n\u00a0 }\r\n}<\/code><\/pre>\n<\/div>\n<p>\u5b9f\u969b\u306b\u30c9\u30ed\u30fc\u30f3\u3092\u63a5\u7d9a\u3057\u3066BlackBox\u30ed\u30b0\u3092\u89e3\u6790\u3057\u3066\u307f\u308b\u3068\u3053\u3068\u306b\u3057\u307e\u3059\u3002\u305d\u306e\u307e\u307e\u3067\u3082\u5927\u4e08\u592b\u3067\u3059\u304c\u3001\u79c1\u306fblackbox_decode\u3068\u3044\u3046\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u6301\u3063\u3066\u3044\u307e\u3057\u305f\u306e\u3067\u3001\u305d\u308c\u3092\u4f7f\u3046\u3088\u3046\u306bSKILL.md\u3092\u5c11\u3057\u3060\u3051\u4fee\u6b63\u3057\u307e\u3057\u305f\u3002<\/p>\n<p>\u6e96\u5099\u3057\u305f\u306e\u306f\u308f\u3056\u3068PID\u3092\u72c2\u308f\u305b\u305f65\u6a5f\u3092\u98db\u884c\u3055\u305b\u305f\u3082\u306e\u3067\u3059\u3002step response\u3092\u898b\u308b\u3068\u6b21\u306e\u3088\u3046\u306a\u611f\u3058\u3067\u3059\u3002<br \/>\n<a href=\"http:\/\/www.nkozawa.com\/blog\/wp-content\/uploads\/StepRespBefor.png\"><img loading=\"lazy\" decoding=\"async\" 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