indoor-fly-dat
the way to fly indoor = do not control your throttle, use pitch
Motor Output Limit
Many pilots set Motor Output Limit around 65–75% for whoops.
50% is safe if you’re flying indoor cruising / training.
✅ Benefits
Much easier to hover and cruise smoothly indoors.
Prevents sudden “rocket up” when you accidentally push throttle too much.
Extends battery life (you don’t spike current as hard).
Motors run cooler.
updates
-
RC smoothing == PT3 based RC smoothing
set rc_smoothing = ON set rc_smoothing_setpoint_cutoff = 10 set rc_smoothing_feedforward_cutoff = 10
Random wobbles in HD footage == PT3 based RC smoothing
turn off air mode indoor
airmode strengh = 10 in betaflight-PID-dat - https://www.youtube.com/shorts/PBAo4fW7DDQ
presents combination test
== filters + tune + rates + RC_LINK
filters
tune
[] mobula8-presents-dat == default not for indoor fly
rates
RC_LINK
[] expressLRS 250Hz
Mobula8 Betaflight Indoor Setup Guide (Beginner-Friendly)
1. Install and Connect
- Install Betaflight Configurator on your PC.
- Connect Mobula8 via USB.
- Flash the latest compatible Betaflight firmware for F4 FC (Mobula8 usually F4 1S or 2S version).
- 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 |
Motor Output Limit
Many pilots set Motor Output Limit around 65–75% for whoops.
50% is safe if you’re flying indoor cruising / training.
✅ Benefits
Much easier to hover and cruise smoothly indoors.
Prevents sudden “rocket up” when you accidentally push throttle too much.
Extends battery life (you don’t spike current as hard).
Motors run cooler.