View source for Multicopter tuning

== Build ==
* The tightets the build, the cleaner the flight will be
* Tighten all the screws
* Fix the cable using hot glue for instance
** A good tip, it putting a hot glue drop then cleaning it with cardboard, that way you only have the right amount of glue and it goes in the small holes
** Also hold the parts for at least a minute in the desired position so the glue can solidify
* Weight distribution is very import, your quad should have most of its mass in the center and equal distribution of weight for each axes

== Betaflight ==
=== Expo ===
* If you have trouble being precise, do not hesitate to add expo to stick input
* It's increasing travel of sticks in the middle for the same amount of movement and decreasing it at the end for faster response
* Never add expo on the transmitter, you'll loose some stick definition 
* Add RC expo on Betaflight, starting from 0. 30% (0.3) RC expo is a good starting point
* Add Throttle expo if you have trouble holding altitude, it's a very good way to control height and altitude

=== Rates ===
* Rates can be configured at your own preferences
* Usually racers will prefere low rates (without rc expo) and freestylers will prefer high rates
* ~600 degree/second for racing and 1000+ degrees/second for freestyle

=== Filters ===
* Starting from Betaflight 3.2 filters are a different topic because it supports dynamic filtering
* Activate dynamic filters right away, it'll detect unwanted frequencies in the gyro and filters it
* On a clean build (tight and weight well distributed) you can switch low filter pass to PT1 and disable Gyro Notch filters 1 and 2
* Always check for motor temperature when disabling filters after a calm 30s-1mn flight

=== PIDs ===
* Default PIDs are usually very good in Betaflight, most of the time you'll only want to increase P until it oscillates and lower it a bit
* Activate antigravity mode to fix pitch wobbles on throttle cut

==== TPA ====
* If you have vibrations or stange behavior at high throttle, note the value of the throttle and lower TPA breakpoint near this value
* Attenuate or accentuate effect of tpa by modifying the value (in percent)

== See also ==
* [[multicopter]]