Betaflight Flight Modes and Switch Setup

calendar Jul 13, 2026 · 4 min read · fpv betaflight modes acro angle horizon turtle arm switch  ·
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Betaflight modes are conditions assigned to AUX channel ranges. When a switch position triggers a condition, the FC activates that mode. Some modes are mutually exclusive; others stack.

Mode Map

mindmap
  root((Betaflight<br/>Modes))
    ARM
      Required before any motor spins
      Always on a dedicated switch
    Flight modes
      ACRO default
        Full rate control, no self-leveling
        Standard for freestyle and racing
      ANGLE
        Levels itself automatically
        Stick controls tilt angle not rate
        Good for learning hover
      HORIZON
        Angle mode at center, flips at edges
        Awkward blend — rarely used by experienced pilots
    Recovery
      TURTLE MODE
        Flip over after crash without walking out
        Spins one pair of motors reversed
      GPS RESCUE
        Return to home on link loss
    Arming helpers
      PREARM
        Must be active before ARM switch works
        Prevents accidental arming
      AIR MODE
        Keeps PID loop active at zero throttle
        Essential for freestyle acro
    Utility
      RATES PROFILE 1-6
        Switch between tuned rate profiles
      VTX PIT MODE
        Drop VTX to minimum power
      BEEPER
        Activate lost-model beeper
      OSD DISABLE
        Hide OSD for clean recording
SwitchMode(s)TypeNotes
SAARM2-positionMost critical; always know which way is disarmed
SBANGLE / ACRO2-positionSB down = acro, SB up = angle (for recovery)
SCBEEPER / TURTLE3-positionMid = beeper, Up = turtle after crash
SDRATES PROFILE 1–33-positionSlow / normal / fast rates
SEGPS RESCUE / PREARM2-positionOr VTX power levels on a wheel

Assign channels in the radio's mixer: SA → CH5 (AUX1), SB → CH6 (AUX2), etc.

Acro vs Angle — When to Use Each

flowchart LR
    A([Stick at center]) -->|Acro| B[Zero rotation rate<br/>Quad holds last angle]
    A -->|Angle| C[Zero tilt<br/>Quad levels itself]

    D([Stick deflected]) -->|Acro| E[Constant rotation<br/>at set rate]
    D -->|Angle| F[Tilts to angle<br/>proportional to stick<br/>max ~45–55°]

Acro (rate mode) is the default and the "correct" mode for any freestyle or outdoor flying. It gives full control authority — you can fly inverted, do flips, and hold any attitude. The quad does exactly what the sticks say.

Angle mode self-levels. The stick commands a tilt angle, not a rotation rate. The FC actively fights any tilt beyond the configured max angle. Useful for absolute beginners learning to hover, but the limits prevent inverted flight and maneuvers.

Air Mode

Air Mode keeps the PID loop active when the throttle is at zero. Without it, the FC cuts PID output at zero throttle and the quad tumbles uncontrollably during inverted passes or power-off maneuvers.

1# Enable permanently (recommended for acro flying)
2feature AIRMODE
3set airmode_start_throttle_percent = 25   # throttle % where airmode fully engages
4save
5
6# Or assign to a switch in Modes tab → AIR MODE

Enable Air Mode permanently for any freestyle flying. The only case to disable it: absolute beginners on angle mode who benefit from the quad stopping dead on throttle cut.

Turtle Mode (Flip Over After Crash)

After a crash with the quad landed upside-down, Turtle Mode spins the props in reverse on alternating diagonal pairs to flip it over — no walking out to retrieve it.

How to activate:

  1. Disarm (arm switch to disarm)
  2. Activate Turtle Mode switch
  3. Re-arm
  4. Use roll/pitch stick to flip; the quad spins the appropriate motors
  5. Once upright, disarm, disable Turtle, re-arm normally
1# Requires DSHOT — bidirectional not required, but the ESCs must support
2# motor reversal command (all BLHeli_32 / AM32 ESCs do)
3set beeper_dshot_beacon_tone = 1  # optional: beacon beeps while turtle active

Turtle Mode is hard on props and motors — the reverse-spin torque stresses bearings. Use it sparingly; don't flip repeatedly on the same crash.

Prearm

Adds a two-step arming requirement: Prearm switch must be active before the ARM switch does anything. Prevents accidentally arming while carrying the quad.

Assign to a switch that you consciously activate when ready to fly:

1# In Modes tab: PREARM on AUX3 full range
2# In practice: flip Prearm (SA up), then flip ARM (SB up)
3# To disarm: flip ARM down. Prearm can stay active.

Highly recommended for any build with exposed props in a bag or case.

OSD Disable

Removes all OSD elements from the video feed. Useful when recording clean footage for editing without pilot UI clutter:

1# In Modes tab: OSD DISABLE on a switch position
2# Flip to hide OSD for clean B-roll; flip back to see telemetry

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