app-dat/RC-dat/RC-configurator-dat/betaflight-dat/betaflight-PID-dat/betaflight-PID-dat.md
... ...
@@ -26,16 +26,16 @@ tuned profile
26 26
| PITCH | 41 | 105 | 48 | 48 | 149 |
27 27
| YAW | 53 | 95 | 00 | 0 | 143 |
28 28
29
-| set | value |
30
-| ------------------------------------ | ----- |
31
-| Damping: D Gains | 1.4 |
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-| Tracking: P & I Gains | 1 |
33
-| Stick Response: FF Gains | 1 |
34
-| Dynamic Damping: D Max | 0 |
35
-| Drift - Wobble: /Gains | |
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-| Pitch Damping: Pitch:Roll D | |
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-| Pitch Tracking: Pitch:Roll P, I & FF | |
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-| Master Multiplier: | 1.6 |
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+| set | value | |
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+| ------------------------------------ | ----- | -------------------------------------------- |
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+| Damping: D Gains | 1.4 | |
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+| Tracking: P & I Gains | 1 | |
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+| Stick Response: FF Gains | 1 | |
34
+| Dynamic Damping: D Max | 0 | |
35
+| Drift - Wobble: /Gains | | |
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+| Pitch Damping: Pitch:Roll D | | |
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+| Pitch Tracking: Pitch:Roll P, I & FF | | |
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+| Master Multiplier: | 1.6 | Indoor: keep lower to avoid twitchy behavior |
39 39
40 40
41 41
app-dat/RC-dat/RC-configurator-dat/betaflight-dat/betaflight-PID-dat/betaflight-rateprofile-dat/betaflight-rateprofile-dat.md
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@@ -1,8 +1,12 @@
1 1
2 2
# betaflight-rateprofile-dat
3 3
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+- Controls **stick sensitivity** and **how fast the quad responds**
5
+- Lower values = slower, smoother indoor control
6
+- Higher values = faster, more aggressive control
4 7
5
-## Rates Type？ == Betaflight BETAFLIGHT
8
+
9
+## Rates Type == Betaflight
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7 11
| set | RC Rate | Rate RC | Expo | Max Vel [deg/s] |
8 12
| ---------------- | ------- | ------- | ---- | --------------- |
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@@ -32,13 +36,14 @@ Lower **RC Rate** → overall slower stick response.
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-## Rates Type？ == Actual
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+## Rates Type == Actual
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37 41
- **Center Sensitivity** → how responsive the quad is around stick center.
38 42
- **Max Rate (deg/s)** → maximum rotation speed at full stick deflection.
39 43
- **Expo** → how much the curve softens near center stick.
40 44
41 45
### 1. Center Sensitivity
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+
42 47
- Controls responsiveness near stick center.
43 48
- Indoor flying → set **lower** than outdoor to avoid twitchiness.
44 49
- Example: `Center Sensitivity = 120` (instead of 200+ for outdoors).
... ...
@@ -112,6 +117,7 @@ for the smooth indoor flying
112 117
| Throttle Limit | Throttle Limit %0 |
113 118
| -------------- | ----------------- |
114 119
| SCALE | 55 |
120
+
115 121
| Throttle MID | Throttle EXPO |
116 122
| ------------ | ------------- |
117 123
| 0.50 | 0.50 |
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@@ -123,6 +129,23 @@ Throttle Limit
123 129
- `Clip`: cuts off only top-end throttle.
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125 131
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+## hover == throttle mid
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+
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+→ **Throttle MID** controls how stick input translates to motor power
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+- Lower = more sensitive at low throttle
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+- Higher = more stable at low throttle
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+
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+→ **Test Flight**
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+- Arm the quad, hover at mid-throttle
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+- If drone rises too fast → increase Throttle MID slightly
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+- If drone feels sluggish → decrease Throttle MID slightly
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+
143
+
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+
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+
146
+
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+
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+
126 149
## ref
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128 151
- [[betaflight-PID-dat]]
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\ No newline at end of file
app-dat/RC-dat/RC-configurator-dat/betaflight-dat/betaflight-dat.md
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@@ -3,15 +3,17 @@
3 3
4 4
- [[FPV-dat]] - [[mobula8-dat]]
5 5
6
-- [[radiomaster-dat]]
6
+- [[radiomaster-dat]] - [[rc-controller-dat]]
7 7
8
-- [[betaflight-presents-dat]] - [[betaflight-configuration-dat]] - [[betaflight-PID-dat]]
8
+
9
+
10
+- [[betaflight-presents-dat]] - [[betaflight-configuration-dat]]
9 11
10 12
- [[betaflight-receiver-dat]] - [[betaflight-modes-dat]] - [[betaflight-motors-dat]]
11 13
12 14
- [[betaflight-OSD-dat]] - [[betaflight-video-transmitter-dat]] - [[betaflight-blackbox-dat]]
13 15
14
-- [[indoor-fly-dat]]
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+- [[betaflight-PID-dat]] - [[indoor-fly-dat]]
15 17
16 18
17 19
## betaflight supports
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@@ -138,4 +140,4 @@ Betaflight is an open-source firmware for drones and other unmanned aerial vehic
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## ref
140 142
141
-- [[RC-configurator-dat]]
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\ No newline at end of file
0
+- [[RC-configurator-dat]] - [[betaflight]] - [[RC]]
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\ No newline at end of file
app-dat/RC-dat/RC-configurator-dat/betaflight-dat/indoor-fly-dat/indoor-fly-dat.md
... ...
@@ -1,8 +1,14 @@
1 1
2 2
# indoor-fly-dat
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+- the way to fly indoor = do not control your throttle
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+
6
+## presents combination test
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+
8
+
9
+== filters + tune + rates + RC_LINK
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+
4 11
5
-## setup test
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7 13
### filters
8 14
... ...
@@ -73,7 +79,23 @@
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### 5. PID / Rate Profiles (Indoor Smooth)
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-**Rate Profile: Indoor Smooth**
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+
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+- Lower **Roll / Pitch / Yaw rates** for smooth, slow indoor flight
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+
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+
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+#### Tune PID*
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+
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+- Indoor: **slightly lower P** to avoid twitchy oscillations -- 以避免抖动和震荡
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+- Indoor: **keep moderate I** → prevents slow drift without overcompensating -- 防止慢速漂移且不过度补偿
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+- 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
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+
92
+- Start with stock values
93
+- Reduce **P / D** slightly to avoid oscillation
94
+- Test hover → watch for drift or tilt
95
+- Adjust **I term** to reduce slow drift
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+
97
+
98
+#### Rate Profile: Indoor Smooth
77 99
78 100
- RC Rate: 0.60
79 101
- Super Rate: 0.45
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@@ -89,12 +111,24 @@ YAW P: 55 / I: 50 / D: 0
89 111
- Adjust slightly if oscillation occurs.
90 112
- Lower values = smoother, less twitchy flight.
91 113
92
-### 6. Filters Tab
114
+
115
+
116
+
117
+
118
+#### 6. Filters Tab
119
+
120
+
121
+→ **Check Filters**
122
+- Low-pass filters reduce high-frequency jitters
123
+- Keep aggressive filtering low to maintain smooth control
124
+
93 125
- **Gyro Lowpass / Dynamic Filter**: default
94 126
- **Dterm Lowpass**: default
95 127
- **Motor Lowpass / Boost**: default
96 128
- Avoid aggressive filtering indoors (may introduce lag).
97 129
130
+
131
+
98 132
### 7. Receiver Tab
99 133
- **Channel Map**: usually `AETR1234`
100 134
- Verify RX is responding in real-time graph.