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 …

DSHOT is a digital ESC protocol. When used bidirectionally, it feeds motor RPM back to the flight controller, enabling the RPM filter — the single biggest improvement to motor noise rejection in modern Betaflight tunes. For the byte-level view of how the frames and eRPM telemetry are encoded on the wire, see DSHOT on …