PID Tuning Principles: Step #1 - Filters Tuning

Step #1 of Kwad PID Tuning Principles is to get your gyro / D-term filters optimized. This video shows how to do the flights and blackbox logs you need to do to accurately optimize your kwad's filtering.
PID Principles Steps at: tiny.cc/uavtech
Playlist of the series: • PID Tuning Principles
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[@ken-kamm]

Thank you for doing this series. I don’t care how long videos are, please continue to go into excruciating detail.

[@uavtech]

Explaining why for what?

[@muhkuh0816]

please include a 2"/3" or sub250g part too. great video

[@LJT9393]

One day I’m going to start watching your videos from the very 1st video you uploaded, and watch them all. I’m noob flyer, and need to learn as much of this as possible.

[@sunsetpark_fpv]

LOL I am in the same mindset. UAV's videos are so deep and knowledgeable that I have: a: Held off watching them until I could study them b: Been searching for a "PART 1 or START HERE type of video. This particular vid seems a great place to start........ :)

[@scrimdog3328]

This is what the comunity needs. your slowly becoming a household name in the fpv world. i find your videos super helpful and your calm manor help get the information in.

[@rolosaenz]

I am subscribed to Joshua Bardwell email list and he mentioned this series on today's letter, here is the text " I consider myself a decent PID tuning, but I'm smart enough to know when somebody else is smarter than me, and humble enough to admit it. Mark Spatz (UAV Tech) has the most advanced and comprehensive PID Tuning guide I've ever seen. It's based on the latest version of Betaflight, and uses blackbox and PIDToolbox to get the most perfect tune possible. To be honest, I'm studying this playlist myself because there's stuff in here I've never thought about. " Your tuning series are pure GOLD , thank you for contributing to the FPV world at this level of detail, it is sooo exact and explicit that is becoming a science, my respects to you, keep this pro videos coming, now i have 2 gurus on my list , Mr. Bardwell and you.

[@uavtech]

Thank you !! Appreciated very much. I didn't see that one.

[@MrHristoB]

@@uavtech I've to join Rolo here. Watched JB a few times but to be honest, It's hard to separate the BS from the information I need.

[@MouwDown]

Man, finally someone with the actual know how walking us step by step with tuning and blackbox. I'll be watching this series at least 2 or 3 or 12 times.

[@MrHristoB]

I've one thing to say. THIS IS BY FAR, the best guide on PID tuning and filters explanation series I've seen so far. Without the BS and the drama I see from some "famous" reviewers and FPV "experts" as it's just a hobby and I don't really care to achieve "the perfect tune", as we're not really building intercontinental ballistic missiles here, just wanted to understand the basic principles so I can make an educated choice when setting up and tuning my crafts. That's it. Sincere THANK YOU!!

[@LLuuxx]

Been waiting for this series!!!

[@Gho5tface]

Thank you so much for doing this series - helps a bunch!

[@pippifpv]

Cool idea for a series. Looking forward to part 2.

[@ledchickenfpv7164]

I think you meant "principles". Maybe you learned something today, and now I'm gonna watch the rest of the video and hopefully learn something too. This tuning stuff is still black magic to me. 😉👍👊

[@uavtech]

Yes, thank you. I have corrected on the videos series. As an engineer, spelling is not my strong suit. It doesn't help that the English language has multiple spelling of words that sound the same, but have diferent meinings either.

[@ledchickenfpv7164]

@@uavtech hey, I completely feel you on that one. English is my "second" language too, but for so long now I'm much better at it than at my mother tongue. I think all languages have some of that, but English seems especially bad. Bass can be a fish or a guitar depending on how it's pronounced and then you have base, which sounds like the guitar, but it's something you step on after hitting a ball with a stick... I feel ya brother 😉😁👊 I spoke German until my mid-teens. If English isn't your first language and it takes Principals/Principles to trip you up, you're probably doing better than a lot of native speakers. 😁👍

[@audaxxx4202]

Thankyou so much for taking the time to do this. So much to learn and this really helps glue everything together.

[@SlavaChrome]

Thank you Mark, great new series start!

[@steveallam]

Mark your awesome keep them coming. I love your methods and detail your put into your series. My man!😎

[@mbycfpv8937]

im excited for this one. I look forward to learning more about filtering and blackbox. Thank you

[@rotorev1137]

Yesss!! Perfect Series man . i need episode a day ;) . Great work

[@chrisnoren777]

Tune that rig. 😎 I like the r9mm, no matter what they say. 😃

[@ErgoFPV]

What a great series idea. Keep up the good work, man!

[@Thatchicstephanie]

Great video. So well explained. Looking forward to seeing the rest of the series. You have yourself another subscriber.

[@ledbetter2472]

Always back to your videos....and always re-watching...many thanks for the detail vids and supplemental docs you provide. You really are a fantastic resource. Thank you for sharing.

[@k20sc]

Thank you thank you! I just build a 7 inch and ive been lookin for a vid like this for a week ! Cause man that 7 inch is hard to tune Thank you very much sir! Looking forward to p2

[@pleiadianpilot5076]

k20sc Tried a 3"? Im close to puttin my latest build on fukin ebay 😭

[@yeahboyd5371]

Great video, looking forward to part 2!

[@KCQuadTronX]

Thanks for yet another great learning experience

[@IshamPadron]

Thank you for putting out such great content.

[@effestop]

I clicked "add to favorites" after 44 seconds. No regret.

[@MUNKYFPV]

Thanks for this series, I’ve avoided blackbox for over two years and have managed tuning by “feel”? A combination of advanced options in BF4 and me noticing every little oscillation these days got me looking for some advanced tuning theory and your channel is the best 👊👍 Logged my first BB flights today and have been using your explorer templates and following along and it’s actually making sense to me. Cheers bro 😎

[@steveallam]

Nice pad Mark!😎 I love watching your videos

[@MPQuads237]

Great stuff Mark. You are amazing.

[@Mateyhv1]

Impatiently awaiting the second chapter. Drone also awaiting by my side :)

[@paulmccleary6875]

Hey great videos I love your content very very informative!

[@AdrianoCasemiro]

I love this channel. No nonsense deep dive into tuning methodology. Learn a lot from your videos. Let's make a series on big heavy rigs. I'm putting together a 6s, 2200 mah plus Gopro on a 7 inch quad. It's not flying well.

[@astragalizont]

Nice video! Keep vlogging on the Gopro or whatever you are using, even indoors. Sound and video is way better than your PC Webcam!

[@uavtech]

Yeah, PC is so easy though, but can do now that i have DJI Osmo Action.

[@MCsCreations]

Pretty interesting, man! Thanks a lot for all the explanations! 😊

[@blaisearnaud7857]

Just the video i needed :D can't wait for part 2/3/4/.... :D Thanks!

[@alexwargo4857]

That's gonna be the best tuning videos! Many thanks! I wish i could give it more likes XD

[@oranir]

That's exactly what I needed!

Thank you for doing this :) It helps a lot :)

[@ktmjay9920]

GREAT VIDEO 👍

[@cdd3068]

Thank you for making this video/series. The “pros” have answered! I can’t wait to see more and learn from this series. Could you perhaps touch on rpm filtering? For example, I’m trying to figure out how to properly run rpm filter in addition to setting the normal filters. Filters everywhere!

[@uavtech]

Yep, will do.

[@cwtim]

Wow nice series! can’t wait for the Dterm part. My gyro notch finally ok today, but for the Dterm I just did something :P 50-120Hz and it felt really good already, so much better than stock And no hot motors. But still sometimes this little unknown wobbles..

[@martinverbaas]

My HERO!

[@michaelwilkes0]

you can do in flight adjustments with just 2 channels. It takes some setup but its not too bad. In fact, I use just 2 channels for 9 in flight adjustments roll pitch yaw P I D, as well as beeper and crash flip. You map 3 3-position switches to one channel which gives you, not 27 options, but about 15, which is pretty good. then you have to use an entire other channel for value plus minus during tuning.

[@jamesparkerfpv435]

thank you!

[@dronearon3085]

tq for sharing

[@pokiou]

man i wish i knew what you where saying.. I'm so keen to learn about PID and Filter tuning.

[@uavtech]

Whelp, watch Filter Fundamentals and this series.

[@CiottiFPV]

I cannot wait to see the rest of this, SUCH GOOD INFO!!!!!!! Any chance of a video or two after this of what your tuning method would be with a non blackbox rig? Hell, you could then show how close (or far) you got it from “perfect” in BB I guess

[@uavtech]

Already in the works. That DTS rig review video was tuned without BBE. Rcvd a new board that now has BB support. Will fire up once this is done, same settings, and see how close we got! :-)

[@CiottiFPV]

@@uavtech oh man I can't wait for that, and I'm going to check out the DTS video now and watch it 15 times in a row ;)

[@davidanderson6222]

👏👏👏👏👏👏........👍 thanks!

[@IloveRoblox215]

I love your channel. I love how you teach things but in the process you really explain what you’re teaching. I love how you dive deep into things because well at least for me I need things broken down in such fashion sometimes. Having said that I am a fan of the channel and love it. Now I do have a question because I have No clue how to tune a Kawd. I do t even know where to begin. I just flash BetaFlight on it and fly and that’s how I been doing it for about 1 1/2-2 years. My question is- could I tun a 4s rig using this video? Reason I ask is in the beginning of the video you stated you were tuning a 6s. Thanks.

[@uavtech]

Check out theuavtech.com/tuning It is all the same process regardless of S value. Also see: kzbin.info/www/bejne/npivhotrqryUhKs

[@pippifpv]

You did a hell of a job with the tuning guide. I'm working my way through, just got to the point of adding ff. It is already flying amazing, could stop now, but I want to know how It can end up behaving with the best tune. One q. I have no bounce back on return to center from dterm as low as 10 and p around 40. Might be because I'm softening too much. But I can see bounce back in rapid full deflection through Blackbox. Do I raise d until they are gone too, to find the p/d ratio?

[@i.v.2824]

Just stumbled across your channel. Very informational stuff. Can you recommend a starting point for a newcomer? Pid tunning strategy?

[@uavtech]

My Filter Fundamental Series and this series should hopefully do the trick.

[@dimosthenischristopoulos2606]

Hello and thank you again and again for your great videos! One question please, if you set a throtle cap is effecting the pids? I am asking because I am trying to make my whoop fly smoother indoors and I noticed that when I am aplaying a throtle cap of 80& or 70% the whoop starts reacting strange. Thank you in advance!

[@AeroSign]

Thanks for this series - awesome. I'd like to follow along but the log file itself is not uploaded... Or am I doing something wrong? I opened your json and got your workspce - which by itself is really nice though thank you.

[@beechFPV]

i love this series and it seems to be the only one that goes into this amount of depth.. im having issues following though as im on betaflight 4.1 and they have sliders ? how do you address that >?

[@uavtech]

just don't use the sliders. The PID Grid still works the same as shown in the series.

[@colinjames4230]

This is good stuff! I'm curious though did you just pull over at a random farm to do a test flight? Lol

[@uavtech]

Kind of. It is a big field on the way to pick up one of the kids. PIT STOP!!

[@nedyalkopetkov]

I’ve been inspired by your BB tutorials and I’m doing PID tune on the 7”. I’ve been hiring some mechanical limits. The motors are going very often on sharp rolls and flips to the max and because of that I’m getting some bounces after the rolls or flips. How should I aproceh from here on?

[@uavtech]

All you can do for mechanical limits is change the mechanical to be more powerful (best solution) OR try to get on the edge with reducing filter delay and increase the PID gains across the board to make them push harder and earlier on moves.

[@KwadLife]

Hey man, do you update your documents and redo this kind of video for BF 4.3? So much has changes lately but the step by step guide of your documentation is great!

[@uavtech]

Once release. Fundamentals are the same. Just settings interface is different.

[@KwadLife]

@@uavtech well, there have been so many updates on filtering as well as on PID sliders! I agree funder mentals are the same but the way of reaching the "tuned state" have changed!? Btw, you said to increase or decrease both sliders in the Video until it gets better or worse... but what is getting worse or better? How do I verify "something" improves? Speaking of PIDToolboy eg.

[@RCOverKill]

I like your tutorials. I'm new here. I've been in fpv almost 1.5 yr. I haven't tuned anything yet, and I've built an acrobrat with E Max RS1606/4000kv motors, and the motors get way to hot to fly it. I've tried someone else's tune, bet their still too hot. These motors haven't been used much on anything I can find. I would appreciate any advice you can give me, I'll be watching this series to tune my 6s quads better. Thanks!!!

[@uavtech]

Add the RPM filtering. Specifically kills motor peak noise, per motor!

[@RCOverKill]

@@uavtech Thank You!!! I have to study the rest of your videos. I've always been able (almost) to get my quad flying pretty good, but seeing the black box works, it seems the only way to get a true tune is by using blank box. Thank you so much for your videos, At this point I can't afford to be a patreon, but if you have affiliate links I will use them as much as possible. Have a great day!

[@BouncebackFpv]

A really interesting series that's gonna makes me decide to take more time to tune my quads ! But I got a little problem : when I try to disable the D term lowpass 2 filter, I always got one or two motors that don't want to spin (otherwise it flies without problems). Do you have any ideas of what could cause that ?

[@uavtech]

No. That is not possible to be related. Either your FW is blitzed or something else is up with your ESCs. I assume you mean after you turn of D-term Lowpass2 and arm, one or two motors doesn't spin up? Do you have a crazy low Dshot idle %?

[@BouncebackFpv]

@@uavtech Yes, that's what I mean (sorry for my average english). My Dshot idle is at 5.6% and every motors runs nicely with this value (with the Dterm Lowpass2 enabled).I'm running Dshot1200 and I will try to come back to Dshot600 next time I'm gonna fly and see if I can disable this filter without problems. My ESCs are Tekko32 F3, I heard some guys saying that they aren't the most reliable ESCs, so if Dshot600 doesn't work either, I will assume that the problem comes from the ESCs themselves. Thanks a lot for taking the time to help me !

[@BouncebackFpv]

Quick update : I just did some tests on the bench with the Dterm lowpass2 on and off and with both Dshot600 and 1200, and all motors were running together every time, even with the exact same config that when I had problems... This is a good news for now but it's really strange, I have no ideas of how is this possible. I'm looking forward to see if it will continue to work properly and if I will be able to fly it without this filter

[@soflyfpv]

Hey so I have always watched your tuning videos and I’m definitely not a beginner when it comes to tuning but for some reason on beta flight 4.1.5 I am having issues with bounce back even though I have not really touched the tunes since I Tune the quads when I first upgraded to a betaflight 4.1 I don’t really use black box to tune I have usually always just tune with my eyes and ears what do you think could be my issue and do you think it is worth me giving Black Box serious try everything else on my quads are tuned perfect really good prop wash handling and nice smooth flight and the only issue I have is with bounce back Any help you have would be greatly appreciated I apologize I am talking to text this comment so if some of it is messed up that is why

[@uavtech]

Probably i-Term windup induced. Turn I-term Relax to 10 and Gyro mode.

[@soflyfpv]

UAV Tech yea i have already still has it Actually put an SD card in my flight controller and started some black box logging so hopefully I’ll be able to figure out how to start to use black box

[@soflyfpv]

UAV Tech Also recently had an ESE burn out in my twig XL 3 So betafpv Send me a newer board Which is the betafpv 20a f411 aio fc And for some reason no matter what I do I get oscillations on throttle I tried more filtering I tried your filter and pid settings For a 3 inch micro with 1404 motors still have oscillations but I did get a little better But I am starting to think I have a bad Gyro because no matter what I do I still have oscillations when i throttle up and when I put beta flight to the defaults It also it’s so bad it feels like it’s going to fly to the moon but I have three other quads that I have tuned and are so buttery smooth it’s just these two quads are problem quads I am using dynamic idle on both and running the RPM filter on both the first 5 inch quad that I was talking about that has a little bounce back on a roll flies completely smooth otherwise and there’s no bounce back on pitch at all

[@creat3dlab12]

Mark, when I load BBE templates inside the newest BBE, nothing happens when I press 0-9 numbers, seems like it is not working.

[@azfpv5967]

Mark, i followed your tuning videos on my 7 inch and it flies great. I have betaflight 4.1.1 on it. I was thinking of flashing the blheli s rpm filtering. Can i just flash the esc's and turn it on in betaflight and retune just the filters and be done or do i need to retune the whole thing?

[@uavtech]

Just filters.

[@azfpv5967]

@@uavtech great, thanks for the response

[@vasiliyklx450r]

Great intention, Mark! Looking forward for the further vids! One question: I can't load json file into the BBE. I tried opening it through the "open log file/video" button but dont see any changes. Running BBE 331. I tried to search in the BBE help in Github, but nothing there. Could you please suggest where to read about this BBE feature? Thank you!

[@uavtech]

Have a log open. Then open the JSON file, then press 0 on you number row on the keyboard. It will load the trace template setup i have shown in the video.x

[@vasiliyklx450r]

@@uavtech Great! got it! Did not realize that the numbers in the Trace Setups are not just bullet numbers, but keybords shortcuts!! 🤭😊👍

[@pippifpv]

Hey Mark. I have 2 builds with flosstyle frame. They both have a small line of frame resonance around 190hz from 20-100% throttle. It makes it hard for the dyn notch to track noise completely. Would you like a log of it, to show a good example of how and when to use a static notch filter?

[@pippifpv]

I can see the resonans with plasmatree, and see how it is enhanced to the pid-loop.

[@uavtech]

Yes please.

[@tehllama42]

That data is always awesome to see. In my experience, those kind of persistent window resonance cases don't stymie the dynamic notch too badly - it just serves as a parking space for the dynamic notch, and so long as it's in a reasonably high frequency (basically not under 150Hz) the dynamic notch parks there until higher amplitude noise appears, then goes off to deal with that, then comes back to those raw peaks - and to the eye (or rather through goggles) those builds fly great with at worst, slightly warmer motors than they'd otherwise be capable of.

[@pippifpv]

@@uavtech Hi again. I have tried again and again, but after I broke an arm on the flosstyle(very first batch made) and replaced the arm with a new(arm has been slightly redesigned), the frame resonance went away. I have looked through some of the old logs i have, and found one where you can see the problem with frame resonance at about 190Hz. anyway, here follows a link to onedrive, hope it works. onedrive.live.com/?authkey=%21AMpF-PJuw_Dhk9Y&id=C11F18BE24AF3366%2128355&cid=C11F18BE24AF3366 I will try and add more logs if i find some.

[@kmitchel46725]

gj

[@antigravity8247]

What does the dynamic notch filter do when the frame resonance is stronger than the vibrations from the motors? Does it make sense to set a static filter? Is the tracker of the dynamic filter before or after the static filter?

[@uavtech]

It is after. It locks to the highest peak (motor or frame resonance). Yes, use a Static Notch to kill frame resonances so the Dynamic Notch doesn't get distracted.

[@tehllama42]

In my experience, those kind of persistent window resonance cases don't stymie the dynamic notch too badly - it just serves as a parking space for the dynamic notch, and so long as it's in a reasonably high frequency (basically not under 150Hz) the dynamic notch parks there until higher amplitude noise appears, then goes off to deal with that, then comes back to those raw peaks - and to the eye (or rather through goggles) those builds fly great with at worst, slightly warmer motors than they'd otherwise be capable of. It dulls the effectiveness of the dynamic filter, and you don't get those awesome post-filter FFT spectra where there's basically zero noise, but it's going to hang out at pretty low levels and for most people who can't be bothere to blackbox log in the first place that's actually the end state of their tune anyway, which is typically a pretty solidly performing quad.

[@alphapapa77]

I have a couple without BB available - what should I do with them? Going to go through this with my 5" that does have BB - looks great

[@uavtech]

Quads without BB: Use The Force? You can still tune them, but it is just harder cause you can't see for 100% what is going on for real. So more trial and error. Very very hard to tune filters wihout blackbox.

[@alphapapa77]

@@uavtech I figured that but would you just recommend I leave the files set to the defaults? I can do PIDs easy enough as before. Just not used to dealing with the filters

[@uavtech]

I would try my Community Preset filter recommendation on Default PIDs. github.com/betaflight/betaflight/wiki/Community-Presets#5-quad---setpoint-tracker-725g-auw-kwad--1020-degsec-max-rates First the “Kwads with Noise between 50hz and 200hz” and then if that goes OK and motors not hot and flys OK, try “Kwads with NO Noise between 50hz and 200hz” filter settings. Again, just the filters part of the paste.

[@paulmccleary6875]

I have a few questions I flash two beta flight 4.1.4 I have the NAZGUL 5 with the success F 4 flight controller. I bought the JESC license everything is working good. My first question is with this flight controller should I run Dshot 300 or Dshot 600 ?

[@uavtech]

Dshot300 at 4k/4k.

[@checkeredflagfilms]

Have you done tutorials on BF Tuning for Cinewhoops?

[@uavtech]

Not yet, but I have the iFlight to do one. It is the same process.

[@robi5722]

I've gotten a question on filter tuning... Rosser states that with RPM filter and Dynamic notch you have to switch all the others off, but I don't like the warning I get from Betaflight that with that small amount of filtering a flyaway is to be expected... your opinion please?

[@uavtech]

Where Chris gets his materials: kzbin.info/www/bejne/jZq6o2OdhZh0ipI theuavtech.com/tuning :-) If you have a clean quad, you can afford do turn off Gyro Lowpass filters.

[@robi5722]

@@uavtech Ah, "got it" ... 😉... entering Patreon

[@wsterlingy]

I've watched your series a few times and I am confused by something. Shouldn't the RPM filters be disabled when setting up the PIDs to get them to do the best job on their own, and then enable all the goodies?

[@uavtech]

No. You want to get a decent signal to the PID controller to start as the amount of filtering effects the PID tune. See tiny.cc/pidtuning for a little more on the subject.

[@GeoNikBand]

do those apply to F3 boards too, with betaflight 3.x.x ??

[@uavtech]

yes.

[@TERBANGFPV]

i want to have the same BBE graph like yours so ive download the BBE json file from your tiny.cc but i dunno how to set it up on my BBE.. i run mac os not windows.

[@TERBANGFPV]

DONE.. forgive my lazyness

[@uavtech]

Glad you got it sorted. For others: kzbin.info/www/bejne/nHTWZmSIhtKrp7c

[@pixelcomet]

is the smoothness value needed when in 8ch mode (on R9M), or can I forget about that when on 8ch?

[@uavtech]

Not an issue in 8 channel mode.

[@pixelcomet]

@@uavtech Thank you!

[@turbomaniafpv7416]

@@uavtech Thanks

[@MrBirdshell666]

There is a customized opentx made by mikeller, which should address this latency issue even for >8 channles mode

[@gonebdg]

Hi ... can you please create a content about PID tuning for 2"/3" quad in relation with cell batteries (2s/3s/4s) for the same quad ?

[@uavtech]

done. kzbin.info/www/bejne/hIjNimykeruYpKs Process is the same for all quad sizes.

[@gonebdg]

@@uavtech Haaa ... you are the best, Thanks!

[@Mateyhv1]

Mark, I have seen the problem you had with the D16 channeling in Frsky due to using additional channels for the PID tunning. If you want you can drop me an email and I will send you the config in OpenTX to adjust all PIDs with just a couple of channels. I have it this way in D16 but binded in 8 channel mode, thus low latency.

[@tehllama42]

Yeah, my initial thought was that the right package of logical channels to condense functions I typically care about into a truio of 'overloaded' channels with matching Aux/Mode settings would probably be ideal. I still personally like the idea of having ARM and PREARM be dedicated single channels, but all of my auxilary functions can be on one channel (beeper, VTX Pit, turtle, Level/Horizon mode [even though i can't use either of those worth a crap], and still leave an open channel for RSSI). I'd probably just move any PID adjustment functionality onto the Prearm channel, since that has one job, and if that's not going well I'd rather the quad stay inert.

[@Mateyhv1]

@@tehllama42 not using prearm, and honestly with a good job in OpenTX its useless and just wastes a channel. Using two switches plus throttle low to arm. One has Normal-disarm-Turtle positions, the other Disarm+VTX Off - Disarm+VTX On - Armed+VTX On. First switch is like shifting gears and the second is the one that arms and is the one thats should be moved last, otherwise wont arm. Both switches and throttle low drive a logical switch that activate the arm mode in Betaflight, tricky but works like a charm.

[@Mateyhv1]

@@tehllama42 by the way I tune PIDs with two 3 way switches, one for selecting Roll, Pitch and Yaw, and the other for selecting P, I or D therm. The actual value is changed via a trim switch acting as a momentary switch.

[@tehllama42]

​@@Mateyhv1 That's a legitimately dialed setup. I'm still carrying a lot of this as holdovers from running an i6 FlySky radio, and still trying to maintain backwards compatibility on those quads, where even what you described is basically non-achievable. I think I'd wind up still using the prearm formally (I like getting an OSD notification that I've failed that setup when I'm trying to start leaning for a race heat), but map that to my multifunction channel so that I get a no-prearm state, a prearm VTX state, a prearm-VTX-Turtle enabled state, a prearm-noVTX state, and have one of those on my momentary switch that re-enables prearm mechanically, while using two supplemental switches. I think it would be an extension of how Josh Bardwell runs his Aux1/2 channel setup, but with bit more deference to the above limits: I think I'd end up keeping the dedicated one-switch one-channel arm state thing (I loan out my quads at races fairly often), but start overloading that with both blackbox AND launch control settings. Again, carrying a lot of needless baggage on my end, and it's odd that one of my desire-ments is the ability to have Flysky AND FrSky quads that I can loan out to people at races and have them fly with their controllers, but still have the same muscle memory on my Taranis for flying them.

[@antigravity8247]

For a smooth RC-command in D16-mode use following linked opentx firmware. Then you don't need to switch in D8-mode. The latency is then only 9ms instead of 18ms. Fast channels are 1-8 for sticks and RSSI, slow channels are 9-16. It is from the betaflight dev mikeller. github.com/mikeller/opentx/releases

[@jakesouthard9175]

when I punch the throttle, then release the throttle to 0, the quad nose drops fairly drastically. What do I adjust exactly here

[@uavtech]

If ti is fast, the P term. Slow it is the I-term. My guess is you need strong P-term.

[@cdd3068]

Hello - I'm using a Kakute F7 board - I set debug_mode = gyro_scaled and did two test flights. Came back and loaded them into BBE. I downloaded your .json file and used "view 0" per your .pdf file and I'm not seeing gyro_scaled for the raw noise for any axis. I followed your steps, however I'm wondering if my board isn't recording the raw noise? I see Gyro [roll], Setpoint [roll] and setpoint[throttle] for Roll graph. I see Gyro[pitch], setpoint[pitch] for the Pitch graph, and I see Gyro[yaw], Setpoint[yaw] for the Yaw graph. Hoping you can point me in the right direction.

[@cdd3068]

I tried both debug_mod = gyro_scaled and gyro_raw, but I'm still not seeing the raw noise.

[@uavtech]

Did you make sure to type "save" [enter] after setting dbug_mode?

[@cdd3068]

@@uavtech Yes sir - What had happened was after numerous rounds of testing, I was using an SD card from my other build. I used the SD card utility to reformat and then did your same steps and was able to gather the gyro_scaled data. This was an oversight on my side because I was using the same FC between two quads - I didn't think I would have problems using the same SD card between the two. Either way - I'm working my way to tuning - following your videos - thank you very much. I think I'm getting there. The problem I'm having is actually correlating my data and what values would I bet setting in the dynamic min/max for the Gyro LPF and gyro LPE cutoff if necessary. I've taken your preliminary numbers (ie. 150/650 for gyro dynamic settings) and it has helped clean up my gyro trace a lot! I'm wondering, from here, having my raw data, how do I know to go up or down in the filters? I've been staring at my BBE log and saying "OK I know I have this noise at this frequency" - but how do I know when/how to use/set the second gyro cutoff frequency. I've set it to 90 from reading, but again, trying to learning. Thank you very much.

[@leetview6076]

is that applicable for 4S and 5S as well?

[@uavtech]

Yes Sr.

[@user-lu2cy9xv2z]

How have you solved the problem with that low frequency noise on Pitch axis? I have the same issue and it causes dterm oscillation when throttle is rising only on pitch axis, and decreasing Dterm or setting dterm lpf to 60hz doesn't solve this problem

[@uavtech]

Fixing the mechanic source is the best. BUT... If you have a low freq spike, let the dynamic notch go low enough to crush it or put a static notch on it.

[@user-lu2cy9xv2z]

@@uavtech you didn't get what I mean... I have the same dterm oscillation on pitch axis when throttle goes up higher than 1300 just like you have shown in the next video. But changing pwm frequency doesn't help, stack is softmounted too

[@uavtech]

If D-term oscillation, lower all the gains by 10. If really a mechanical noise issue, you want to tackle with filters.

[@caymandiver75]

I can't get the json file to work. I downloaded the file and opened it through betaflight and it says Workplaces Loaded, but they don't actually load. Thoughts? I'm using the latest 3.3.1 version.

[@uavtech]

Press 0 thru 9 on number row on your keyboard to load the presets.

[@caymandiver75]

Thanks! That worked

[@michaeljohnson6473]

Did you say tiny.cc/filtercap?? I listened to it 100 times trying to tell. I couldn’t find the file. Please help

[@kanenstuff]

Hurry up part 2 i have 2 quads which are super noisy no matter what hope this can help me out as i suck at tuning my mobula7 gets super hot but all my 5 inch but 1 are ok thanks for your vids

[@uavtech]

working on it!

[@glitchy8429]

Um... so how do I set up my graphs to look like that? Im clicking away but nothing coming up with a graph view that just says debug...

[@uavtech]

Load my templates: theuavtech.com/blackbox

[@glitchy8429]

@@uavtech omg I love you. Thanks

[@olimlaviste6374]

How about for 5inch..?

[@uavtech]

This is a 5"

[@sfersystem]

Really good approach, il like these vidéos but i've a question about gyro vibes. kzbin.info/www/bejne/iai4faGnh5qMa7M On a Fresh New Nazgul5, i see on hd footage (with ND filter) some vibrations when i crusing slow. All settings are stock (PID, filters etc.. ) and i have no vibrations on full throttle. How can i get rid of that ? (where should i dig) Thank's for help !

[@uavtech]

Go through the full PID tuning process and see if persists.

[@MrBirdshell666]

Some quads just wont fly without a 'software' lpf on gyro, no matter how low/many u set dterm lpfs, even with a mpu6000. Just beware.

[@uavtech]

Yep. Some will not, but this one and all my other do. I will be sure to caution folks.

[@marinehm]

Here's my profile for my 3" Gecko: I think Yaw relax is way too high. Your input please # get relax iterm_relax = RPY profile 0 Allowed values: OFF, RP, RPY, RP_INC, RPY_INC Default value: RP iterm_relax_type = GYRO profile 0 Allowed values: GYRO, SETPOINT Default value: SETPOINT iterm_relax_cutoff = 10 profile 0 Allowed range: 1 - 100 Default value: 20 integrated_yaw_relax = 200 profile 0 Allowed range: 0 - 255

[@uavtech]

Set i-Term- Relax to RP only. You want lots of i-Term on Yaw. See the Step #5 video on Yaw tuning. If you are using Integrated Yaw, that is different and you need to have Absolute Control Enabled for Integrated Yaw to work right.

[@rmh7753]

Great information. But should the title not read: BETAFLIGHT PID TUNING PRINCIPLES:

[@uavtech]

The principals are the same for F1 as well. F1 just has less bells and whistles.

[@fastfrank61]

Hello Mark , you now that iam in in your list montly i need help please i have the Diatone GT 548 MK3 4S 2207 2650KV Please can you send me a tunning for Racing for this modell maked by you please . I have 2 one is for Freestyle and i flay the PIDs out of the box wit Gefam 51449 and it goes fantastic . But the second one i can not find the point to be happy please can you help me ????? The Racing i have Gefam 5043 and Beta Fury F4 OSD 4.0.3 . Thanks a lot but iam not happy with him . Ihave a Eachine TS 215 V3 with your Pids and Hobbwing Grafen 5S and FF on Roll and Pitch 250 and Yaw he goes like a devil , but the Diatone iam not happy ......... best regards from Spain :-)))))))

[@DaffyDubzFPV]

That garage is too clean...

[@pleiadianpilot5076]

Fifteen videos in, and i still have absolutely no clue as to wtf im doing. So many black box videos and I still have no clue what im looking at, what i need to change, this video has only confused me more. This is so depressing, the community preset im using is 90% there but i cant work out how the hell to get rid of these mid throttle oscillations and snappy yaw twitches, even following a video specifically on these issues. I just wana fly the fuckin thing 😭😭

[@uavtech]

Sorry you are having issues.

[@pleiadianpilot5076]

UAV Tech Its too much for me man, im fully hooked on fpv, been flying three years but just cant get my head around any of this, all my quads were second hand pre tuned. Dont know what to do, no matter how many times i watch these videos im no closer to knowing if i need to change my pids, filters, FF, D_min 😔 doesnt help that every single video im finding is for 5", my 5" is fine its my 3" givin me shit 😂 appreciate your reply tho buddy ♥️

[@alexanderpalij5621]

Do you have an email address?

[@uavtech]

spatzengr at yahoo.com

[@FPVQuadModz]

Whoever sent that thing can't tune for crap.

[@uavtech]

It is just Defaults.

[@FPVQuadModz]

@@uavtech lol I stand by my statement, I can't tune for crap. That's why I'm so pumped for this series.

[@uavtech]

Oh. Lol. Hey Chris. Sorry, didn't make the connection. :-)

[@tehllama42]

@@uavtech Ahahaha. I'm just glad we have this content that uses a concrete example. i can't wait to see some before & after HD footage, showing what sort of improvement is possible on a fairly reasonable 6S setup.

[@Blackazza]

seems like a lot of info is missing or just assumed as common knowledge for a "Step 1" video :(

[@uavtech]

See theuavtech.com/tuning and the guide to fill in the blanks

[@ChristopherF_1971]

Seems like a lot of work.. 😧

[@uavtech]

All good things are. If happy on defaults stay there, but you might wonder how much better it could be. ;-)

[@ChristopherF_1971]

UAV Tech I totally understand what you are saying and yes betaflight is great. I just have health issues/cancer ongoing since 2010 keeps recurring I’ve had Round Cell liposarcoma 3 times since and sitting behind a computer all day trying to tune a quad isn’t how I real want to spend my time. I’m on 4.0.2 on my 6” quad and used tune presets and seems to still fly horrible. HD footage is useless so it’s obviously shaking. It’s all new build as well.

[@uavtech]

New builds can have noise issues just like anything else. If any quad is flying like crap, it is 99.9999% of the time a noise issue (mechanical problem). I don't know how you really see and target that without BB. 😬

[@tonsukekoma5293]

Please， pleaes stop using that strange font．It is sooooo hard to read....