What happens inside Betaflight when you move a slider. The formulas here are derived from pid.c in the Betaflight source. Understanding the math makes the configurator sliders predictable rather than mysterious. The PID Control Loop flowchart LR RC[RC setpoint<br/>°/s] --> ERR GYRO[Gyro measurement<br/>°/s] --> ERR …

A PID controller is the core of what makes a flight controller work. Understanding what each term does — and what breaking it looks like — is prerequisite to any meaningful tuning. The Control Loop flowchart LR P([Pilot stick<br/>setpoint]) --> E{Error<br/>calculation} G([Gyro<br/>actual rate]) --> E E --> PT[P term] E …