indoor-fly-dat

updates

presents combination test

== filters + tune + rates + RC_LINK

filters

tune

rates

RC_LINK

Mobula8 Betaflight Indoor Setup Guide (Beginner-Friendly)

1. Install and Connect

  1. Install Betaflight Configurator on your PC.
  2. Connect Mobula8 via USB.
  3. Flash the latest compatible Betaflight firmware for F4 FC (Mobula8 usually F4 1S or 2S version).
  4. After flashing, reconnect to Betaflight Configurator.

2. Ports Tab

  • UART1: Serial RX (for FrSky or other receiver)
  • UART2: Blackbox (optional)
  • UART3: Unused
  • Save and reboot.

3. Configuration Tab

  • Mixer: Quad X
  • ESC/Motor protocol: DSHOT600
  • Gyro Update Frequency: 8 kHz
  • PID Loop Frequency: 4 kHz (smooth indoor flight)
  • Motor Stop: ON
  • Air Mode: ON
  • Small Angle Mode: ON (helps beginner indoor flying)
  • Arming Angle Limit: 180°
  • Gyro Lowpass Filter: default

4. Modes Tab

  • ARM: assign a switch on your transmitter
  • ANGLE / HORIZON Mode: assign a switch for beginner-friendly flight
  • BEEPER: assign for lost quad alert

5. PID / Rate Profiles (Indoor Smooth)

  • Lower Roll / Pitch / Yaw rates for smooth, slow indoor flight

Tune PID*

  • Indoor: slightly lower P to avoid twitchy oscillations -- 以避免抖动和震荡
  • Indoor: keep moderate I → prevents slow drift without overcompensating -- 防止慢速漂移且不过度补偿

  • Indoor: lower D slightly → avoids jitter from small prop wash -- 可减少小范围螺旋桨气流引起的抖动

  • Start with stock values

  • Reduce P / D slightly to avoid oscillation
  • Test hover → watch for drift or tilt
  • Adjust I term to reduce slow drift

Rate Profile: Indoor Smooth

  • RC Rate: 0.60
  • Super Rate: 0.45
  • Expo: 0.30

PID Values

ROLL / PITCH P: 38 / I: 40 / D: 18

YAW P: 55 / I: 50 / D: 0

  • Low and soft values for smooth response.
  • Adjust slightly if oscillation occurs.
  • Lower values = smoother, less twitchy flight.

6. Filters Tab

→ Check Filters

  • Low-pass filters reduce high-frequency jitters

  • Keep aggressive filtering low to maintain smooth control

  • Gyro Lowpass / Dynamic Filter: default

  • Dterm Lowpass: default
  • Motor Lowpass / Boost: default
  • Avoid aggressive filtering indoors (may introduce lag).

7. Receiver Tab

  • Channel Map: usually AETR1234
  • Verify RX is responding in real-time graph.
  • Deadband: 5 (smooth small stick movements)

8. Battery and Power

  • Indoor 1S or 2S: use 3.7V–7.4V 300–450mAh LiPo
  • Enable Battery Voltage Monitoring in Configuration
  • Safe cut-off for 1S: 3.5V

9. Motor Test / Prop Safety

  • Remove props before testing.
  • Test each motor spins in correct direction.
  • Reverse motors in Motors tab if needed.

10. Tips for Indoor Flying

  • Fly in ANGLE or HORIZON mode for smooth control.
  • Gentle stick movements only; avoid aggressive flips indoors.
  • Lower rates = easier for beginners.
  • Slightly increase I term (+5) if drifting too much.

11. Optional Enhancements

  • Blackbox: record and analyze PID tuning.
  • Battery Beeper: low voltage alert.
  • LED Strip: orientation aid indoors.

tune 2 - Indoor Cinematic Whoop PID Tuning

Category Parameter Value / Tip Purpose
Basic Setup AirMode Enabled Control at low throttle
Throttle MID 0.48–0.52 Balanced hover
RC Rate 0.7–0.9 Smooth stick response
Super Rate 0.5–0.7 Prevent overshoot
Expo 0.2–0.4 Soft center stick
PID Gains P Gains Slightly lower than stock Reduce twitchiness
I Gains Moderate Correct slow drift
D Gains Lower than stock Reduce propwash oscillations
Feedforward (FF) 0.8–1.0 Smooth stick response
Master Multiplier 1.5–1.6 Global PID/FF scale
Filters & Axis Filters Moderate (dynamic optional) Reduce propwash
Pitch = Roll Keep equal Balanced indoor control
Yaw Slightly lower rates & D Smooth cinematic turns

ref

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