RC-controller-dat

Check Channel Map: should be AETR.

• A: Aileron (Roll)
• E: Elevator (Pitch)
• T: Throttle
• R: Rudder (Yaw)

A Roll E Pitch R Yaw T Throttle

Roll Pitch Yaw Throttle

• mobula8-dat

drift

2. Calibration & Orientation

1. Betaflight → Setup → Calibrate Accelerometer (drone must be level).
   
2. In Setup 3D model: tilt the drone → model should move the same way.
   

3. If not → fix in Configuration → Board Alignment (Yaw 90/180/270 etc).

• Calibrate Accelerometer: Betaflight → Setup → Calibrate on a perfectly flat surface.
• Make sure the quad is completely still during calibration.
• Check Setup Tab 3D model → it must move exactly like the real quad.
• If model twitches on its own → gyro noise or vibration problem.

4. Fixing “Steady Right Drift”

1. If subtrim is correct but it still drifts → go to PID Tuning.
   
2. Increase Roll I-term slightly (+1 → +4, test each step).
   
3. If oscillations appear → reduce Roll P or Roll D by small steps (-1).
   
4. Check Motor Idle value: Configuration → DShot Idle around 5% (or min_command ≈1050).

• Reset to Betaflight default PIDs for Mobula8 (start clean).
• Reduce Roll/Pitch P by 10% if oscillations occur.
• Increase I-term by +5 if drift is slow and continuous.

4. Angle Mode Settings

• If drift only happens in Angle Mode:
  • Use small Accelerometer Roll/Pitch Trim adjustments.
    
  • Example: Drift forward → Pitch Trim negative.

If drift happens in Acro Mode too

→ it’s not accelerometer, it’s mechanical or PID.

🛠️ PID Tuning for Slow & Smooth Flight (Mobula8)

• PID-dat

1. Start from Defaults

• In Betaflight Configurator → PID Tuning Tab → click Reset to Defaults.
• This gives you a stable baseline.

2. Lower P and D Gains (Gentler Response)

• Roll / Pitch P: reduce by ~20%
• Roll / Pitch D: reduce by ~20%
• Yaw can stay default. 👉 Lower P/D = less aggressive corrections → smoother flying.

3. Increase I-Term Slightly (Stable Hover)

• Roll / Pitch I: increase by +10–15%
  👉 Helps hold level in hover, prevents drift.

4. Add a Bit of Damping (TPA / D-Term Filter)

• Leave filters at default first.
  
• If motors get hot, lower D-Term a bit more.

5. Rates (Most Important for Smooth Flying)

Go to Rates Tab:

• RC Rate: 0.80 → change to 0.50
• Super Rate: 0.70 → change to 0.60
• Expo: set to 0.25–0.30 👉 Slows down stick sensitivity, smoother camera movement.

6. Throttle Curve (for Gentle Hover)

• Betaflight: use Throttle Expo in PID Tuning → Throttle tab.
  
  • Throttle Mid: set to ~0.50
    
  • Throttle Expo: set to 0.20–0.30
    👉 Gives finer control near hover point.

7. Test Hover Indoors

• Arm in Angle Mode.
  
• Slowly raise throttle.
  
• Quad should lift smoothly without sudden jerks.
  
• Adjust Expo if still too sensitive.

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✅ Summary for Smooth / Cinewhoop-style Flying

• Lower P/D = softer movements.
  
• Raise I = stable hover.
  
• Reduce Rates + add Expo = slower stick response.
  
• Throttle Expo = smoother lift / descend.