app-dat/RC-dat/RC-configurator-dat/betaflight-dat/betaflight-PID-dat/betaflight-PID-dat.md
... ...
@@ -29,6 +29,16 @@ default profile
29 29
| PITCH | 56 | 100 | 52 | 48 | 149 |
30 30
| YAW | 53 | 95 | 00 | 0 | 143 |
31 31
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+**Proportional (P):** Controls how strongly the quad reacts to the difference between the current and desired position (error). Higher P means faster correction, but too high can cause oscillations.
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+
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+**Integral (I):** Corrects for small, persistent errors over time (like wind drift). It accumulates error and helps the quad hold its attitude. Too much I can cause slow oscillations or “wind-up.”
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+
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+**D Max:** The maximum value the Derivative (D) term can reach during fast movements. It helps control overshoot and quick direction changes, especially when Damping is set low.
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+
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+**Derivative (D):** Reacts to how quickly the error is changing (rate of change). It damps rapid movements and helps prevent overshoot and oscillations. Too much D can make motors hot or noisy.
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+
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+**Feedforward (FF):** Predicts and responds to your stick inputs directly, making the quad feel more responsive and “snappy.” It doesn’t rely on error, so it improves stick tracking and reduces latency.
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+
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tuned profile
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... ...
@@ -42,6 +52,15 @@ tuned profile
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## slider
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+PID Tuning Slider Mode
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+
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+ID tuning slider mode can
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+be:
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+- OFF - no sliders, enter values manually
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+- RP - sliders control Roll and Pitch only, enter Yaw values manually
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+- RPY - sliders control all PID
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+
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+Warning: Going from RP to RPY mode will overwrite Yaw settings with firmware settings.
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| set | value | |
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@@ -55,50 +74,61 @@ tuned profile
55 74
| Pitch Tracking: Pitch:Roll P, I & FF | | |
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| Master Multiplier: | 1.6 | Indoor: keep lower to avoid twitchy behavior |
57 76
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-![](2025-09-15-03-31-37.png)
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+### Damping: D Gains
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-use PIDtoolbox to find the best value
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+Relatively high D-gain will dampen stick responsiveness and may make motors hot, but should help control fast oscillations and will improve prop-wash.
61 80
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-![](2025-09-15-03-32-43.png)
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+Relatively low D-term gives quicker stick responsiveness, but will weaken prop-wash performance and reacting to external forces (wind).
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+### Tracking: P & I Gains
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-### Master Multiplier
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+Increase the Tracking slider to sharpen the quads response to your influences; avoiding the nose of the quad going off course in any condition.
66 86
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-- hear motor sound and feel the response
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+Lower 'Tracking' values will will go off course on stick moves and in prop wash.
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-- Start to gradually increase your Master Slider from ~0.5
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-- Pay attention to motor temperature, the sound of the motors, and propwash handling
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+High 'Tracking' may result in oscillation and fast bounceback (hard to see but you canhear).
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+Excessive Tracking may result in oscillations and hot motors.
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+### Stick Response: FF Gains
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+Lower Stick Response will increase the **latency** of the quad movements to commands and may result in slow bounceback at the end of a flip or roll.
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-### Throttle and Motor Settings
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+Higher Stick Response will give snappier quad response to sharp stick moves. Too much Stick Response can cause flip or roll.
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-| set | value | expalination |
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-| --------------------- | ----- | --------------------------------------------------------------------------------------- |
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-| Throttle Boost | 5 | Increases throttle response when you make quick stick movements. |
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-| Motor Output Limit | 100 | Limits the maximum power sent to the motors (as a percentage). |
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-| Dynamic Idle | 35 | Sets a minimum motor RPM (as a percentage of throttle) when the throttle is at zero. |
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-| Vbat Sag Compensation | 100% | Compensates for voltage drop (“sag”) as the battery drains. |
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-| Thrust Linearization | 40% | Adjusts throttle curve to make thrust output more linear (proportional) to stick input. |
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+Note: "I-term Relax" can reduce authority quads or if low Stick Response Gains are used.
84 100
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-indoor
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+### Dynamic Damping: D Max
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- set throttle_limit_percent = 75
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+Increases D max, the maximum amount that D can increase to during faster movements.
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- set throttle_boost = 7
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- # set throttle_boost = 0
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- set dyn_idle_min_rpm = 30
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- set dshot_idle_value = 600
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- set motor_output_limit = 90
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- save
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+For race quads, where the main Damping slider has been set low to minimize motor heat, moving this slider to the **right** will improve overshoot control for quick direction changes.
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+For HD or cinematic quads, instability in forward flight is best addressed by moving the Damping slider (not the Dynamic Damping slider) to the **right**. Check for motor heat and listen for weird noises during quick inputs when moving this slider to the right.
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-#### dynamic idle
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+For freestyle quads, especially heavier builds, moving this slider to the **right** may help control overshoot in flips and rolls.
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+
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+Note: Generally overshoot in flips and rolls is due to not enough 'i-Term Relax', or motor desyncs, or inadequate authority (a.k.a. Motor Saturation). If you find that moving the Damping Boost slider to the right doesn't improve flip or roll overshoot, put it back to the normal position, and seek out the reason for the overshoot or wobble.
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+
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+
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+
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+
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+
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+![](2025-09-15-03-31-37.png)
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+
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+use PIDtoolbox to find the best value
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+
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+![](2025-09-15-03-32-43.png)
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+
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+
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+### Master Multiplier
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+
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+- hear motor sound and feel the response
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+
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+- Start to gradually increase your Master Slider from ~0.5
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+- Pay attention to motor temperature, the sound of the motors, and propwash handling
98 130
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-- 2" == 30
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-![](2025-09-15-03-29-48.png)
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... ...
@@ -160,12 +190,6 @@ Note: Slider(s) are disabled because current values are outside the Basic Mode a
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A feature that reduces (relaxes) the effect of the I-term (integral) in the PID controller during fast stick movements, helping to avoid overshoot and improve flight feel.
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- D Min
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-- Anti Gravity
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- - [x] Permanently enable Anti Gravity
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- - [x] Smooth [x] support - Mode
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- - 10 - Gain - [[indoor-fly-dat]]
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-
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-A feature that temporarily boosts the I-term (integral) of the PID controller during rapid throttle changes to help maintain stable flight and prevent sudden altitude drops or surges.
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... ...
@@ -187,6 +211,53 @@ If you prefer a softer, more stable indoor tune
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set feedforward_boost = 10
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save
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+
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+
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+### Anti Gravity
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+
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+- [x] Permanently enable Anti Gravity
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+- [x] Smooth [x] support - Mode
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+- 10 - Gain - [[indoor-fly-dat]]
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+
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+A feature that temporarily boosts the I-term (integral) of the PID controller during rapid throttle changes to help maintain stable flight and prevent sudden altitude drops or surges.
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+
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+Enable anti-gravity for **stable throttle changes**.
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+
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+
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+
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+## Throttle and Motor Settings
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+
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+| set | value | expalination |
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+| --------------------- | ----- | --------------------------------------------------------------------------------------- |
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+| Throttle Boost | 5 | Increases throttle response when you make quick stick movements. |
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+| Motor Output Limit | 100 | Limits the maximum power sent to the motors (as a percentage). |
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+| Dynamic Idle | 35 | Sets a minimum motor RPM (as a percentage of throttle) when the throttle is at zero. |
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+| Vbat Sag Compensation | 100% | Compensates for voltage drop (“sag”) as the battery drains. |
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+| Thrust Linearization | 40% | Adjusts throttle curve to make thrust output more linear (proportional) to stick input. |
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+
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+indoor
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+
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+ set throttle_limit_percent = 75 ## rateprofile
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+
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+ set throttle_boost = 7 ## ?
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+ # set throttle_boost = 0 ## ?
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+
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+ set dyn_idle_min_rpm = 30
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+ set dshot_idle_value = 600 ## ?
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+
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+ set motor_output_limit = 75
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+ save
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+
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+
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+#### dynamic idle
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+
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+- 2" == 30
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+
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+![](2025-09-15-03-29-48.png)
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+
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+
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+
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+
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## ref
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- [[PID]] - [[tech]]
app-dat/RC-dat/RC-configurator-dat/betaflight-dat/betaflight-modes-dat/betaflight-modes-dat.md
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@@ -25,7 +25,9 @@ Air mode is very stable, good for beginners
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### What is Air Mode?
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-- Air Mode is a **Betaflight flight feature** that keeps the motors active and responsive even at **zero throttle**.
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+
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+Air Mode is a **Betaflight flight feature** that keeps the motors active and responsive even at **zero throttle**.
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+
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- Without Air Mode:
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- When you cut throttle, motors almost stop spinning.
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- The quad loses control authority and can "fall" or tumble.
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@@ -37,4 +39,12 @@ Air mode is very stable, good for beginners
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- ✅ Smoother hovering and stable control, even at low throttle.
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- ✅ Prevents sudden drop when you release throttle indoors.
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- ✅ Essential for flips, rolls, or freestyle tricks.
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-- ⚠️ For very small **brushed whoops**, it can make them bounce indoors (too sensitive).
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\ No newline at end of file
0
+- ⚠️ For very small **brushed whoops**, it can make them bounce indoors (too sensitive).
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+
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+
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+
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+In the standard mixer/ mode, when the roll, pitch and yaw gets calculated and saturates a motor, all motors will be reduced equally.
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+
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+When a motor goes below minimum it gets clipped off. Say you had your throttle just above minimum and tried to pull a quick roll - since two motors can't go any lower, you essentially get half the power (half of your PID gain).
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+
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+If your inputs would have asked for more than a 100% difference between the high and low motors, the low motors would get clipped, breaking the Symmetry of the motor balance by unevenly reducing the gain
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\ No newline at end of file
app-dat/RC-dat/RC-supplier-dat/drone-maker-dat/happymodel-dat/mobula8-dat/mobula8-indoor-fly-dat/mobula8-indoor-1.txt
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@@ -78,6 +78,7 @@ set rc_smoothing_auto_factor_throttle = 25
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set serialrx_provider = SPEK1024
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set airmode_start_throttle_percent = 35
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set blackbox_sample_rate = 1/2
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+set blackbox_device = NONE
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set dshot_idle_value = 300
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set dshot_bidir = ON
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set dshot_bitbang = AUTO
... ...
@@ -150,24 +151,28 @@ set dterm_lpf1_dyn_max_hz = 200
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set dterm_lpf1_static_hz = 150
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set dterm_lpf2_static_hz = 0
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set vbat_sag_compensation = 100
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+set anti_gravity_gain = 100
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set crash_recovery = ON
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set iterm_relax_cutoff = 25
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set yaw_lowpass_hz = 0
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set throttle_boost = 0
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set acro_trainer_angle_limit = 30
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-set p_pitch = 48
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-set i_pitch = 95
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-set d_pitch = 42
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-set f_pitch = 130
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-set i_roll = 90
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-set d_roll = 38
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-set f_roll = 135
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+set p_pitch = 64
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+set i_pitch = 74
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+set d_pitch = 29
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+set f_pitch = 116
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+set p_roll = 68
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+set i_roll = 79
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+set d_roll = 30
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+set f_roll = 124
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set p_yaw = 53
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set i_yaw = 95
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set f_yaw = 130
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+set angle_p_gain = 35
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set angle_limit = 45
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-set d_min_roll = 0
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-set d_min_pitch = 0
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+set horizon_level_strength = 50
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+set d_min_roll = 28
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+set d_min_pitch = 27
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set d_max_advance = 0
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set motor_output_limit = 75
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set thrust_linear = 20
... ...
@@ -175,8 +180,8 @@ set feedforward_jitter_factor = 5
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set feedforward_boost = 10
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set feedforward_max_rate_limit = 95
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set dyn_idle_min_rpm = 30
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-set simplified_pids_mode = OFF
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-set simplified_master_multiplier = 120
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+set simplified_pids_mode = RP
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+set simplified_master_multiplier = 80
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set simplified_i_gain = 65
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set simplified_d_gain = 120
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set simplified_pi_gain = 190
app-dat/RC-dat/RC-supplier-dat/drone-maker-dat/happymodel-dat/mobula8-dat/mobula8-indoor-fly-dat/mobula8-indoor-fly-dat.md
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@@ -4,6 +4,46 @@
4 4
- [[betaflight-PID-dat]]
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+1. Flight Modes
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+
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+Enable Angle or Horizon Mode for self-leveling and easy control indoors.
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+- Angle: safest, no flips/rolls.
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+- Horizon: allows gentle flips/rolls, still self-levels.
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+
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+2. Rates and Expo
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+
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+- Lower your rates (e.g., 400–500 deg/s) for smoother, slower stick response.
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+- Increase expo (e.g., 0.3–0.5) for finer control near center stick.
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+
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+3. PID Tuning
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+
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+- Lower P and D gains slightly for softer, less twitchy response.
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+- Increase I gain a bit to help hold attitude against drafts.
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+- Use the “tuned profile” in your table as a starting point, but reduce values if the quad feels too sharp.
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+
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+4. Feedforward
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+
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+Set Feedforward (FF) lower for smoother, less aggressive stick response (e.g., 130–140).
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+
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+5. Anti-Gravity
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+
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+Enable Anti-Gravity and set gain to 10 or higher for stable altitude during throttle changes.
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+
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+6. Throttle and Motor Settings
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+
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+- Motor Output Limit: Set to 75–80% for safer, gentler indoor power.
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+- Throttle Boost: Set low (5–7) for smooth throttle response.
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+- Dynamic Idle: Set to 30–35 to prevent motor stalling at low throttle.
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+- Vbat Sag Compensation: Enable to keep performance consistent as battery drains.
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+
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+7. Master Multiplier/Sliders
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+
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+Keep Master Multiplier low (0.5–1.0) for gentle, stable flight.
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+
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+8. Angle/Horizon Strength
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+
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+Lower “Strength” and “Angle Limit” for less aggressive self-leveling and more cinematic movement (see your “optimized for indoor fly” table).
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+
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## ref
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