PID, Rates & Tuning
How Betaflight's control loop works and how to tune it: PID and feedforward theory, the math behind the sliders, rate curves and rate modes, and repeatable blackbox-driven tuning protocols.
Snippets
- BBL-Based PID Tuning Protocol
A structured, blackbox-driven PID tuning protocol based on step response β¦ - Betaflight Rate Modes β Formulas, Comparison, and Conversion
Betaflight supports four rate mode formulas. They all do the same job β map β¦ - Betaflight Rates Explained
Rates control how fast the drone rotates in response to stick input. Higher β¦ - Betaflight Tuning Math β What Each Term Actually Does
What happens inside Betaflight when you move a slider. The formulas here are β¦ - Blackbox Logging Setup and Field Guide
Blackbox records every sensor reading, RC input, PID output, and motor command β¦ - Cinematic Tune from Betaflight Presets
Betaflight ships with a Presets library that includes ready-made cinematic β¦ - PID Basics β P, I, D, and Feedforward
A PID controller is the core of what makes a flight controller work. β¦ - PID Tuning β The Wobble-Test Protocol (Free Tools Edition)
A systematic PID tuning protocol based on the Joshua Bardwell / Brian White β¦ - Rate Presets β 733 / 633 / 533 in Betaflight & Actual
533, 633, 733 are community shorthand for three popular freestyle rate profiles, β¦ - Rate Profile Selection & Persistent Stats
Switching rate profiles mid-session via a transmitter switch and saving your β¦ - Rates Deep Dive β Expo Curve, Zones, and Throttle
Rates are not just a "how fast does it spin" setting. They shape where β¦ - Tuning Flight Protocol β Building a Useful Blackbox Log
Getting good PID analysis results requires a specific flight sequence. Freestyle β¦