Betaflight 4.4 Tuning Guide + Tips and Tricks for the BEST tune!

[@ChrisRosser]

To try everything Brilliant has to offer-free-for a full 30 days, visit brilliant.org/ChrisRosser/. The first 200 of you will get 20% off Brilliant’s annual premium subscription.

[@TomHerriman]

Now that I have the holes in my ceiling repaired, I'm going to try this process again. This time, outdoors.

[@Chillin-fpv]

😂

[@alfindo27]

😅😅😅😅

[@TotallyNotNuclear]

You are a true gift to the fpv community. Thank you for all of you work! 🙏

[@boo7948]

yes

[@MrCoffis]

Facts.

[@joshuahenriques3224]

This is a good guide - but you should credit Brian White most of this guide other then the filters section and the dynamic idle is based off methodologies Brian developed and tools he created, there is not any acknowledgment of that which is a shame. With regards to some things in the guide you didn't touch on Iterm Relax which is critical for a lot of drones also I term at 1.0 will cause massive overshoot on any drone over 8 inch - it needs to be decreased as the drone size increases! FF is dependant on I term not just D! FF is not disabled by angle mode that is incorrect

[@SteveCEvans]

Push left stick to the right and hold briefly to quickly get to the save/exit menu. You don’t need to use back repeatedly.

[@ChrisRosser]

Good to know, thanks!

[@-exeCy-]

Or just Left stick to the Left to go back.

[@gregor.potrebujes]

I find using LUA script (Betaflight setup) on the radio easier. No goggles needed.

[@hasqall]

In the previous videos you ised to turn off the dynamic D but is this 1 you didnt ? Any reason for it ?

[@alurpal888]

You mentioned using the throttle pump log to optimize filters but didn’t actually do that in the video. You just visualized the log and then used the values from your chart. Did I miss something?

[@PIDtoolbox]

Great vid Chris! Nice step by step. Very similar to the PTB approach. BF 4.4 is really something! One small correction 6:37, FF is currently still active in Angle mode in BF4.4. Not sure what the intention is for future versions, but FF definitely should be turned off (angle or acro) if using the PTB step response tool.

[@xxxplode5999]

LOVE YOUR WORK BRIAN!!!

[@PIDtoolbox]

@@xxxplode5999 thanks man

[@fr3style]

Brian is the real hero here! If not for him this video would never exist! Cris should have plugged brian more

[@Tonynux]

@@fr3style I agree!

[@catfpv5524]

Where would we be without pidtoolbox and the basement tuning method? Great seeing all these videos showcasing your software and how it makes it so much easier to understand tuning.

[@BRadFPV]

HUGE TIP... @ 20:05 move left stick right to get to save & exit menu FAST!!!

[@istim]

came here to say the same thing, made my day when I accidentally happened across this shortcut

[@J2_P]

Hi Chris! On your previous tuning video you advise to set pidsum_limit = 1000. Is it always applicable or we should keep betaflight default value on 4.4? Thanks in advance.

[@olegvlasov2744]

I think the advise is still the same. He didn't mention tuning filters for gyro itself, for example BMI270 This video is quite short comparing to Betaflight 4.3

[@BradB111]

I have just gone through this process and I can not express how perfect the quad feels to fly, it's incredible. Thank you so much for taking the time to put together this guide.

[@ZentaRobotics]

Great video as always! A tip using the OSD menu: simply move the left stick left to move back in the menu. Much faster and easier than scrolling to the back option!

[@taylorharris1982]

This is a fantastic tuning video for 4.4. This is incredibly easy to follow and I'm grateful that you've provided all of this information to all of us. Thank you!

[@MurdersFPV]

I have learned so much from you and Mark since I started really diving into tuning and your method is consistent and extremely accurate. I love that you added the detail of Dynamic Idle which many people don't utilize. You covered it all in one 30 min video while providing clear explanations of why you take the steps you do. Brilliant, Chris.

[@olegvlasov2744]

Who is Mark? I'd love to learn more about Betaflight

[@MurdersFPV]

@@olegvlasov2744 youtube.com/@uavtech

[@olegvlasov2744]

@@MurdersFPV thank you

[@MrSmithFPV]

Still like your tuning guides a lot! Much better than these theoretical tuts from Mark and Chris. You are a real pilot that makes the difference. These 2 guys are not flying that much...

[@CorkscrewFPV]

If your best P&I log is set to 1, how do you set D at 2.5x? I guess I missed something!

[@donochetti2177]

Patrick Xing from iFlight recomends elrs 250hz over 500hz and Oscar Liang says he uses 500hz over the default 250hz for the same quad (Nazgulv2). Could someone clear up the who what why they say this. Thank you my ocd is killin me XD

[@skinnyguy3184]

Hay chris when using pidtoolbox do i need to change anything in the blackbox recording in betaflight or just leave it at 2 and gyro_scaled? Thanks mate

[@AK47_42]

Hi Chris, just looked up the specs of the 1002-motor the Sub250 Nanofly20 quad uses and it states that it has a 9N12P configuration instead of the more "standard" 12N14P configuration that the larger motors have. Not sure if this really matters for the tuning process when enabling "Bidirectional DShot" and leaving the motor poles at the Betaflight standard 14 poles as seen in a short video blip instead of 12. Would be interested what potential issues you could see if any. And on a sidenote: I love your scientific method of procedure "consisting in systematic observation, measurement, and experiment, and the formulation, testing, and modification of hypotheses.". I hope that someday this will make it into some form of Betaflight Auto-Tune capability for the general public. 🙏

[@skree_fpv436]

You'll want to change the motor poles to 12 on that 1002 motor if you are enabling bidirectional dshot. The correct magnet count is required in order for the correct RPM to be determined. If the magnet count is wrong then the RPM will not be calculated correctly and the RPM filter won't work to the best of it's ability, which may in turn cause hot motors.

[@robjackson2731]

this is a wildly incomplete guide for someone who hasn't done this before. Your assumptions about hardware and navigation around the various programs is killing me right now.

[@rmh7753]

Chris, Hi! I see that code you have written for Angle Mode has been incorporated into BF 4.5 and includes FeedForward. Does this mean that the above tuning method using Angle mode is not valid for BF 4.5? BTW thank you for bringing the Art of Science to this sport!!🙏

[@AntonEvdakov]

You recommend turning off Gyro Low Pass 1 and 2 when setting up. and other settings in the filters. After tuning , do I need to return everything back or not ?

[@kaptkrunchfpv]

YES! If Chris Rosser is going to teach me how to tune it, I better order one before they are out of stock!

[@cedric4893]

When you do Step Response analysis, Feedforward and Dmax should not be enabled (about PD, Master and I-Term optimization). Otherwise, this can make troubles into results and you could have issues to interprete results.

[@Mqzfpv]

yea i wondered why he doesnt drop dmax to 0..

[@MaxwellDoesStuff]

Thanks a lot for chris, it's super useful for me. One thing I found more useful in the P:D balance section 20:58 was using a binary search type approach. First do 3 runs at 0.3, 1.0, and 2.0 Then look at the logs and see if 1.0 is under or over damped. Assuming 2.0 is under damped and 0.3 is under damped then whichever side 1.0 is on, lets you eliminate anything above of below it. For me, 0.3 was massively over damped, 1.0 was somewhat over damped and 2.0 was massively under damped. Because of that you know anything less than 1 will also be under damped, and you don't have to test anything below that. From there you try 1.5 and see how that performs. For me 1.5 was actually about perfect, but for others it could be over or under damped and then you just repeat the process until you can get a really nice tune in what I'd guess to be about 4-6 flights. This would be a bit more of a scientific route to it too instead of just picking some numbers at random.

[@ViisionzFPV]

This is my first time tuning my quads.. Chris says in the video that your D slider should be 2.5 times your pi slider. If my PI slider is 1.6 do I have to times it by 2.5?? At 1.6 PI and 1.0 D slider it looks almost identical to Chris’s final tune. I’ve watched all 4 of his tuning videos and Joshua Broadwell but I just feel like I’m doing something wrong. Any insight, pleassseeeee

[@FreshPanda97]

Thank you! But why you don’t show us the process at 22:47 or even little earlier. How to compare all these slider multiplier changes in one diagram? I don’t know how to compare all my logs together to see it like that 😢

[@jonasr.3083]

me too

[@adrinfpv]

On the filter tuning, the throttle test and the graph was never used. At least the biquad table link to the test was never explained. As if the test was never needed

[@freeflyer]

This is not just a video, a lecture actually. Thanks for your high quality effort 😎

[@adamkalicak]

Thanks for the awesome video Chris. My 2.3" quad flies better than ever now, and despite ending up on higher D-Terms than I'd have ever tried previously, my motors are still cold and pidtoolbox shows everything is tracking great. 👍

[@ethan0145]

Holy crap, dude. I'm following this video with an ultra clean built AOS 3.5 and I keep turning these filters down and seeing nothing. This build is running an F745 too so it doesn't even matter at this point, its just insane to see gyro logs this clean. Amazing work, as always, and thank you so much for everything you've contributed to this hobby

[@ChrisRosser]

Great to hear! Thanks for the message and your support.

[@MrPashee]

Hi Chris! Amazing video as always! Can you say, which parameter I need to adjust if the wind shakes my 3 inch toothpick too much?

[@timon72489]

Master multiplier as high as possible. This will make it react faster to the wind. Higher I gains might also work

[@silvio2402]

What’s chooning?

[@adamdude]

Is there anything you'd do differently in these steps (filtering, PID gains etc) if you were tuning a 3-5" quad instead?

[@Barks_Bridge_Dog_Training]

Same technique for any quad really (1:30 timestamp) Obviously do not throttle pump indoors though 😂

[@aphinion]

Ever since your 4.3 guide my quads are behaving absolutely amazingly. I see you also incorporated a lot of the tips from Brian White for this 4.4 version. It's really helpful to get basically the a single strategy merged from you two... and a simple step-by-step guide. This saves an incredible amount of time and confusion and makes tuning a standard part of the build process. Love it!

[@JoshuaHardee]

This is a fairly dangerous tuning example especially when referring to the turning off the gyro and dynamic filters which is only possible on a perfect quad, with perfect gyro and minimal frame resonance and issues. This video is mostly for the “perfectly built “best case” quad instead of the bnf’s that people will be tuning while watching this video. The filtering example will likely not work for “most” people and their setups.

[@pitudefe]

Hello Chris! One question. For the PD balance, it is the same to move the damping slider (D gain) or to move the Tracking slider(PI Gain)? Thank You!

[@rob-bomb366]

Wouldn't it be possible to use the function that the new 3D printers have called "input shaping" to analyze the resonances of the motors even on drones?

[@kk29101]

Hi Chris, great sharing for PID tune, I follow your step, and set I-Gain to zero and tune P&I Gain. however, when start from 0.4, arm and yaw drift right quite fast. all I need to do it turn the I-Gain back to 1. yaw drift gone and able to arm and take off. why set I-gain to zero and tune like you not work for me?

[@stevejakab]

Hi Chris, is it no longer necessary to use the CLI commands to open up the full power of the PID loop like you did with previous tuning videos?

[@marcelw82]

Hi Chris nice videos! What if my older quad is still flying around with multishot, should i replace my esc's? For a better tune?

[@tg3025]

How do you setup the graphs? I cant find gyro scaled [roll]/[pitch]/[yaw] anywhere.

[@z2kk]

I had this same confusion (couldn't find it). Gyro scaled is only logged if you configure black box in Betaflight. Set Blackbox debug mode to GYRO_SCALED. See 3:40 in the video.

[@tg3025]

@@z2kk Perfect! Thanks for pointing that out.

[@1337plans]

Thank you Chris!!!! Yes, can you please make more tiny whoop 65mm 75mm content.. and also 7" tuning content?? Thank you!!!!!!!!!!!!

[@bamatube8200]

Can Betaflight 4.5 have a prop size selection that configures filters, etc. accordingly?

[@ScorpioVI]

Wanted to try this but I can't even get PIDToolBox working. Keep getting a "Could not find version 9.3 of the Matlab Runtime. Attempting to load mclmcrrt9_3.dll" error even though I already installed Matlab. Anybody know a fix to this?

[@cccagley5276]

At 3:33 when you turned on the rpm filter, you left the motor poles at 14. S/b 12 on that quad.

[@josekadett]

In the blackbox logging rate I can only select the following options: 1/1 (3299Hz) 1/2 (1600Hz) 1/4 (800Hz) 1/8 (400Hz) 1/16 (200Hz) i have BF 4.4.1 on my quad and BF configurator 10.9.0 what is the problem, thanks. Is there any problem selecting 1/2 (1600Hz)?

[@marinehm]

May seem lame but, can you do a video just setting up pid toolbox. What settings to select and why. What you’re comparing to and why? How to get the graph you’re showing slowly, showing each data field how it compares to the stick commands. This is my first time hearing of PID toolbox. So obviously first time using it. Thanks. I hope that’s not too basic. All eyes are on you and Bardwell to educate us.

[@mateuszjasek]

Instant thumbs up 👍

[@spfpv6753]

Bogwon, the master of all things relevant! You are my new favorite inspiration in flight. I have been flying the AOS frame for about a year now. It have improved my confidence and skills to a level I have only dreamed about. Now that I'm flying "like" my influencer on KZbin. Because of your knowledge and passion, we all benefit from it. That is a type of master Bogwon. I thank you, I believe we all feel this way.

[@Steff_FPV]

hey chris, thx for your great videos. with your advices the PID tune works great. but now i have a problem with a speedy bee FC without flash. there is only a SD card slot. The gyro data were recorded om the SD card, but they are saved as BFL files instead of bbl files. therefore i cant open the files in pidtoolbox or in the blackbox viewer. do you know how to convert to bbl files or open the bfl files? you know an other solution? THX

[@pianolover007]

Nice demo. But I wonder how you could set full throttle inside the home without hitting the ceiling 😅

[@Renaissancedubois]

Thank you Chris for sharing this information. I followed your process and I wanted to make a log by increasing the i-gain.. the problem is that the more I put (0 to 1) the more I obtain a peak again.. is what should I leave the i gain at 1 and lower the p and i again ?

[@Ronnygrimm10]

Brilliant Video! ;-) Really helped me to understand Betaflight tuning and blackbox functions better and the result is much better handling drones. Thanks a lot!

[@leandrosly]

So i'm dealing with a weird problem here. I'm trying to tune an geprc cinepro 4k using an external openlog board. I've flashed the blackbox firmware and it seems to be working. The lights are ok and it saves files.txt in the card. But when i try to open the files in blackbox explorer i can only see the "log header" and "view table" info. The files get bigger or smaller if I keep the quad armed for longer or smaller times. I downloaded some log from internet and it works fine in blackbox explorer and comparing the file to mine they look the same. Any ideas??

[@trumblez]

Please help! My copter flips out when doing a flip or when doing a punchout. Its a 3.5 inch sub250 6s quad, I have only tested the flips in horizon mode but when i try even a slow flip the quad gets uncontrollable and doesnt level again but just crashes. I already have the master multiplier turned down to 0.6 so I dont think it solves it when turning it down even lower

[@AliasFPV]

Hey there, at 4:29 you downloaded a preset for ExpressLRS250Hz, what do I need to do if I am using a DJI FPV REMOTE 2 and not using ExpressLRS signal ? Do I need to download something else or skip this step ?

[@tomasferreira9584]

Hi Chris... I am trying to learn before buying an FPV. This seems a little advanced. Where I can start learning about beta flight? Because I don't even know what is bi directional shoot 😅 Thank you!

[@vitorxavier8257]

you can also use the yaw left to go back on the menu

[@ViisionzFPV]

So when I initially test at .3, .4 etc do I move the D slider to 2.5 times the P&I slider or do I leave it at 1.0 while adjusting the P&I through .3 - 1.5. My next question is, if my P&I slider is at 1.5 then my D slider needs to be 3.75 right? So I’d have to move the multiplier to 2 then do some math and put the P&I to 0.75 and then D would go to 1.90?

[@ryanblake3414]

Chris I have to say It has taken me over a week to follow all of this. However I now have the perfect step response tuned quad thank you for this info.

[@williamb3323]

Thank you Chris, I appreciate the hard work you put in to this and the videoing. I don't think people think enough about the work that entails. I subed, and liked. I have just built a 5" freestyle quad and tried UAV's preset tune. It almost ran away. Went back to betaflight stock 5" preset, and I have a lot of oscillation after a roll. Time to figure it out.

[@jenka22]

Thanks. I tune my mark 5 and its perfect now. Maybe somebody can HELP me when I change filter settings to biquad, save and disconnect. Its stay pt1. So I cannot change filter settings.

[@DavidOwensuk]

I love your proscriptive approach to tuning, as well as your videos in general. However, I tend not to put any time into tuning and instead prefer to use the Betaflight defaults, so that I can focus my spare time on flying. My question, Chris, is whether I would notice a significant difference if I started tuning my quads again?

[@BenBenkc]

Thank you for such an informative video. Im doing this outdoor with a little wind. Would the wind affect the result ?

[@notice_fpv]

The suspension analogy!! So perfect.

[@azateq2876]

@ChrisRosser why do you recommend the biquad, when BF docs suggest avoiding it and using pt3/4 instead?

[@VasylDemianov]

I don't understand. In filter tuning, you first gather logs, look at them, but then, after setting recommended settings, never return to re-record new logs and do any adjustments. Why even show filter logs then?..

[@stanbekker]

Thank you Chris, new to FPV, I want to dive deep into tuning and you gave me all the education I need to get started!

[@pravyadav5264]

Thank you so much for this guide, I have a question, how do I set my transmitter if I am using a dji remote 2 controller with O3, please help me, thankyou so much

[@LuckyPratama71]

Hi thank you for the guide. I cannot find airmode in modes tab of betaflight 4.4.2. Can you please help?

[@jessefpv9217]

For Anybody That’s wants a good flying quad without all the BS. Use BF 3.3. Still flys better to be vs any new BF

[@christophergrenell3140]

I've got the d:p balance @ 1: .8. Went up the master to 2, doubled the d:p to 2:1.6 and hit 2 on the master. motors are barely warm. where to go from here?

[@BentRim]

I'm finally to the point where I am capable enough to need this guide. Great video. I'm curious about applying the betaflight presets for the radio link. Is that a necessary step for something that is already built and flying, that we just wish to tighten up a bit?

[@dweight1990]

It is worth to note that if you are using a FC with an ICM42688P you SHOULD NOT disable all gyro filters - at least one lowpass should be enabled! In my case Gyro Lowpass 2 set to 600Hz PT2 hits a sweet spot, but start with as low as 300Hz and go up from there.

[@J2_P]

There is also something about 4k PID loop. If I remember correctly betaflight documentation advise to keep a low pass 2 active in case of a 4k pid loop.

[@filipefrango1671]

@@J2_P ye ive read it to

[@filipefrango1671]

@@J2_P "Never disable Gyro Lowpass 2 filter for 2K/4K PID loop frequency due to anti-aliasing reasons"

[@MattBalder]

I'm using a Tmotor F722 FC running the MPU6000 gyro and have my PID loop frequency set to 8k and ESC protocol set to DSHOT 600. Do you think the filter settings Chris recommends are good for this FC at these configurations?

[@dweight1990]

@@MattBalder It should work fine with your gyro :)

[@robertehrentraut9247]

@ChrisRossner i have heard FF is active by default in Angle Mode in BF 4.4? Is it true?

[@devanklausegger6548]

Amazing video the only improvement would've been demo flights of the pre and post tune but excellent information please make more thank you

[@stephantertel]

I think for some quads I need to find the PD balance and the master multiplier separately for roll and pitch axes and merge the PID values directly without the sliders. With the latest BF the flight behaviour has become much better. Chris Rossers step by step tuning method is working for me. Thank you. For dynamic idle the values are higher compared to the last recommendations. Is this just more conservative, or due to changes in BF?

[@stephantertel]

Just noticed that there are dedicated pitch sliders for that

[@tito9107]

Is it necessary to have blackbox logging? I don't think my fc has it :(

[@Cherobfpv-2024]

Any help.. having hard time tuning mg cl35v2. 27:10

[@TriMeX1987]

So I have followed this whole vid. What if my motors still get pretty warm. ( a 2.5 inch qav freybott) what can I change to get the motors go get less hot? I found that I need more filtering. what from maybe the beginning of the first filter tab is best for me to change and try?

[@sail_fpv]

Which information from "frequency vs throttle plot" should be taken into consideration for filter configuration? Watched two or three times section about noise freqs. and still dont what is it for? Just to get to know how quad reacts to throttle? Does it gives us any useful data?

[@jessehoffman5302]

is black box explorer supposed to already come with some graphs? mine is completely blank and i need to add them all in manually... sure wish i could just download a version with all the graphs on already.

[@stevejakab]

Thanks Chris, got through it all now. What was particularly useful was being able to tune my micro inside in angle mode, with only feedforward being tuned in Acro mode outside. Great video, and many thanks.

[@Valdemar1]

I’ve got very god results using dynamic idle and brake on stop function for esc..motors just sings now!

[@Chillin-fpv]

Can you please make a video for someone who know nothing about blackbox viewer. Like where and what you have to do to get these graphs?

[@Wontonsoupz]

I did exact like you instructed in the video. But i can't find where the Throttle Pump.txt?

[@captaindronieversefpv]

Hi Chris , i want to ask about " Feedforward - Transitions " what is transition does on the quad ?

[@AhmadFPV]

Hey Russel, Which term is responsible for drag?

[@gregdavidd]

Thanks so much for the video. One observation is that you started off slowly giving clear steps then at some point you started skipping some things that got me lost.

[@nilamsarilawira]

I have 4Khz 1/4 and 1/2 2Khz on blackbox. which one should i use?

[@Duesentrieb_FPV]

Should i let airmode on when i tune? I tuned 2 builds without airmode, but they get flyaways when i turn on Airmode

[@gaetanocrocilla715]

Hi @ChrisRosser great and very useful guide. Question: Can I follow your steps having the "Throttle MID", "Throttle EXP", "Throttle Limit" and "Throttle Limit%" not in default? I have changed them to fly my flywoo explorer Iong range indoor. I hope you can answer. Thanks Chris!

[@gaetanocrocilla715]

Also, which base rates are best to perform the tuning?

[@flat-earther]

can't see what you are doing on betaflight. every detail is too small

[@Dayto_G]

Getting 1.4 in the pi slider how am i supposed to 2.5x that

[@Catboy-hr2qp]

How do you view feed forward in pid toolbox? Also what about I gains?

[@MikeCarr07]

One question, once you turn off most of the filters do you just leave it like that?

[@layer1259]

Thank you very much for this nice and compact guide. I really liked that you have chosen the small 2 inch for the demonstration because I totally agree with your reasons for that.

Really cool video! Thanks Chris! I just got a Flylens85 whoop, does these settings apply to mini whoops as well? I'm kinda afraid to change the DEFAULT settings since its my first time using it

[@ViisionzFPV]

just take a picture of all your default filters and sliders before tuning. If you mess things up you can always move them back to defaults. When tuning just make sure you go in small increments. Don’t go from 1.0 on the master multiplier to 2 right away. Go up a .10 at a time! There is a possibility of burning up motors or fly aways if you make big changes without testing

[@KwadLife]

Yeah so I went forward tunig my Cinelifter QAV-Pro Whoop starting as suggested with a PI Gain of 0.3, leaving D Gain at 1.0. So 3x 30 sek flight and the ESC was gone amd motors where baked. I think we need to clarify some points here... maybe it makes sense to use the D slider instead of PI, otherwise you start off with massive D and depending on the build this kills your motors or esc... 😪😪😪😪😪😪

[@pink_kaju]

My quad used to fly amazing on mpu6000 gyro, but I had to replace the fc, and the new FC has a BMI 270 and it flies away. what should I do? I am using BF4.4

[@Levytan1]

Hey chris is it ok to use dynamic idle for a 1s whoop???