Multicopter tuning

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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