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app-dat/RC-dat/RC-configurator-dat/betaflight-dat/betaflight-PID-dat/betaflight-PID-dat.md
... ...
@@ -5,7 +5,20 @@
5 5
6 6
- [[betaflight-rateprofile-dat]]
7 7
8
-## mobula8
8
+
9
+## works
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+
11
+![](2025-09-15-03-20-15.png)
12
+
13
+![](2025-09-15-03-21-05.png)
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+
15
+![](2025-09-15-03-21-23.png)
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+
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+- suspension == spring + damper
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+
19
+![](2025-09-15-03-23-18.png)
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+
21
+## mobula8 for example
9 22
10 23
default profile
11 24
... ...
@@ -26,17 +39,37 @@ tuned profile
26 39
| PITCH | 41 | 105 | 48 | 48 | 149 |
27 40
| YAW | 53 | 95 | 00 | 0 | 143 |
28 41
42
+
43
+## slider
44
+
45
+
46
+
29 47
| set | value | |
30 48
| ------------------------------------ | ----- | -------------------------------------------- |
31 49
| Damping: D Gains | 1.4 | |
32 50
| Tracking: P & I Gains | 1 | |
33
-| Stick Response: FF Gains | 1 | |
34
-| Dynamic Damping: D Max | 0 | |
35
-| Drift - Wobble: /Gains | | |
51
+| Stick Response: FF Gains | 0 | |
52
+| Dynamic Damping: D Max | 0 | starting from 0 |
53
+| Drift - Wobble: /Gains | 0 | |
36 54
| Pitch Damping: Pitch:Roll D | | |
37 55
| Pitch Tracking: Pitch:Roll P, I & FF | | |
38 56
| Master Multiplier: | 1.6 | Indoor: keep lower to avoid twitchy behavior |
39 57
58
+![](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
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+
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+
40 73
41 74
42 75
### Throttle and Motor Settings in betaflight
... ...
@@ -50,6 +83,13 @@ tuned profile
50 83
| Thrust Linearization | 40% | Adjusts throttle curve to make thrust output more linear (proportional) to stick input. |
51 84
52 85
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+#### dynamic idle
87
+
88
+- 2" == 30
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+
90
+![](2025-09-15-03-29-48.png)
91
+
92
+
53 93
54 94
### Angle/Horizon
55 95
... ...
@@ -71,7 +111,11 @@ optimized for indoor fly
71 111
- Angle == less respone
72 112
- Angle Limit == less speed and angle, but inability to fly in wind
73 113
74
-### screenshort
114
+
115
+
116
+
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+
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+### slider screenshort
75 119
76 120
![](2025-09-03-14-41-34.png)
77 121
... ...
@@ -87,7 +131,35 @@ Note: Slider access and range is restricted because you are not in expert mode.
87 131
Note: Slider(s) are disabled because current values are outside the Basic Mode adjustment range. Switch to Expert Mode to make changes
88 132
89 133
134
+## PID controller settings
135
+
136
+- Feedforward transition
137
+- Acro Trainer Angle Limit
138
+- Throttle Boost
139
+- Dynamic Idle Value [* 100 RPM]
140
+- Absolute Control
141
+- I Term Rotation
142
+- Vbat PID Compensation
143
+- Integrated Yaw
144
+- I Term Relax
145
+ - RP - Axes
146
+ - Setpoint - Type
147
+ - 5 - Cutoff - [[indoor-fly-dat]]
148
+
149
+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.
150
+
151
+- D Min
152
+- Anti Gravity
153
+ - [x] Permanently enable Anti Gravity
154
+ - [x] Smooth [x] support - Mode
155
+ - 10 - Gain - [[indoor-fly-dat]]
156
+
157
+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.
90 158
91 159
## ref
92 160
93
-- [[PID]] - [[tech]]
... ...
\ No newline at end of file
0
+- [[PID]] - [[tech]]
1
+
2
+- [damping tuning on meteor75](https://www.youtube.com/watch?v=CsD5sV7xOPc)
3
+
4
+- [Betaflight 4.5 PID Tuning](https://www.youtube.com/watch?v=1oYoVE4xu1U)
... ...
\ No newline at end of file
app-dat/RC-dat/RC-configurator-dat/betaflight-dat/betaflight-PID-dat/betaflight-rateprofile-dat/betaflight-rateprofile-dat.md
... ...
@@ -8,7 +8,7 @@
8 8
9 9
## Rates Type == Betaflight
10 10
11
-| set | RC Rate | Rate RC | Expo | Max Vel [deg/s] |
11
+| set | RC Rate | Rate | Expo | Max Vel [deg/s] |
12 12
| ---------------- | ------- | ------- | ---- | --------------- |
13 13
| Basic/Acro Rates | | | | |
14 14
| ROLL | 1.06 | 0.56 | 0.15 | 482 |
app-dat/RC-dat/RC-configurator-dat/betaflight-dat/betaflight-dat.md
... ...
@@ -13,7 +13,7 @@
13 13
14 14
- [[betaflight-OSD-dat]] - [[betaflight-video-transmitter-dat]] - [[betaflight-blackbox-dat]]
15 15
16
-- [[betaflight-PID-dat]] - [[indoor-fly-dat]]
16
+- [[betaflight-PID-dat]] - [[betaflight-rateprofile-dat]] - [[indoor-fly-dat]]
17 17
18 18
19 19
## betaflight supports
... ...
@@ -27,6 +27,17 @@
27 27
28 28
29 29
30
+## betaflight features
31
+
32
+- RC smoothing - [[indoor-fly-dat]]
33
+- crash recovery - [[betaflight-configuration-dat]]
34
+
35
+## betaflight HDK features
36
+
37
+- [[GPS-dat]]
38
+
39
+- [[optic-flow-dat]] sensor
40
+
30 41
31 42
32 43
app-dat/RC-dat/RC-configurator-dat/betaflight-dat/betaflight-presents-dat/betaflight-presents-dat.md
... ...
@@ -37,7 +37,7 @@
37 37
38 38
- [[bf-presents-rc_link-dat]]
39 39
40
-
40
+- expressLRS 250Hz
41 41
42 42
## category
43 43
app-dat/RC-dat/RC-configurator-dat/betaflight-dat/indoor-fly-dat/indoor-fly-dat.md
... ...
@@ -1,7 +1,23 @@
1 1
2 2
# indoor-fly-dat
3 3
4
-- the way to fly indoor = do not control your throttle
4
+- the way to fly indoor = do not control your throttle, use pitch
5
+
6
+
7
+## updates
8
+
9
+- RC smoothing == [PT3 based RC smoothing](https://betaflight.com/docs/wiki/tuning/4-3-Tuning-Notes)
10
+
11
+ set rc_smoothing = ON
12
+ set rc_smoothing_setpoint_cutoff = 10
13
+ set rc_smoothing_feedforward_cutoff = 10
14
+
15
+- Random wobbles in HD footage == [PT3 based RC smoothing](https://betaflight.com/docs/wiki/tuning/4-3-Tuning-Notes)
16
+
17
+- turn off air mode indoor
18
+
19
+- airmode strengh = 10 in [[betaflight-PID-dat]] - https://www.youtube.com/shorts/PBAo4fW7DDQ
20
+
5 21
6 22
## presents combination test
7 23
... ...
@@ -34,7 +50,7 @@
34 50
35 51
- [] [[bf-presents-rc_link-dat]]
36 52
37
-
53
+- [] expressLRS 250Hz
38 54
39 55
40 56
... ...
@@ -156,6 +172,25 @@ YAW P: 55 / I: 50 / D: 0
156 172
- **LED Strip**: orientation aid indoors.
157 173
158 174
175
+## tune 2 - Indoor Cinematic Whoop PID Tuning
176
+
177
+
178
+| Category | Parameter | Value / Tip | Purpose |
179
+| ------------------ | ----------------- | --------------------------- | ---------------------------- |
180
+| **Basic Setup** | AirMode | Enabled | Control at low throttle |
181
+| | Throttle MID | 0.48–0.52 | Balanced hover |
182
+| | RC Rate | 0.7–0.9 | Smooth stick response |
183
+| | Super Rate | 0.5–0.7 | Prevent overshoot |
184
+| | Expo | 0.2–0.4 | Soft center stick |
185
+| **PID Gains** | P Gains | Slightly lower than stock | Reduce twitchiness |
186
+| | I Gains | Moderate | Correct slow drift |
187
+| | D Gains | Lower than stock | Reduce propwash oscillations |
188
+| | Feedforward (FF) | 0.8–1.0 | Smooth stick response |
189
+| | Master Multiplier | 1.5–1.6 | Global PID/FF scale |
190
+| **Filters & Axis** | Filters | Moderate (dynamic optional) | Reduce propwash |
191
+| | Pitch = Roll | Keep equal | Balanced indoor control |
192
+| | Yaw | Slightly lower rates & D | Smooth cinematic turns |
193
+
159 194
160 195
## ref
161 196