Pilot:
J-TRUE FPV
presets
betaflight 4.2.x presets
The key thing with whoops is the power to weight ratio is pretty low. So PD Balance needs to be around 1:1. Meaning P-gains about equal to the D-gains. Also, PID gain strength needs to be around 60+ (60 to 90). Therefore, move up the P & D Gain slider to 1.5.
Note:
- D_ min turned off (does not help with prop wash)
- Set ESC Motor Timing in BLHeli_S, M or JESC, set Timing to Medium-High.
- Set ESC PWM frequency to 48khz or 96khz. This will extend battery life by 20% to 30% in most cases.
PIDs
Rates
Filters
CLI Dump (Copy & Paste)
set vbat_sag_compensation = 100
set thrust_linear = 25
save
Toothpicks generally have a power to weight similar to a 5″ freestyle quad; and hence why they fly much closer to a 5″ (except for not having the throw weight of a 5″). Therefore, the PD Balance slider is very close to what you generally see on a 5″ (0.8 to 1.2). The below should have a decently aggressive P & D Gain slider setting. If you get oscillations at take-off with the sliders position of 1.5 here, move it down to 1.2 or even 1.0.
Note:
- D_ min turned off (does not help with prop wash)
- Set ESC Motor Timing to 23-deg in BLHeli_32 firmware. In BLHeli_S, M or JESC, set Timing to Medium-High.
- ESC PWM frequency is 24khz. If you prefer 48khz ESC PWM frequency, set as such and paste “set thrust_linear = 25“ in the BF CLI and type “save” [enter] afterwards.
PIDs
Rates
Filters
CLI Dump (Copy & Paste)
[none]
Betaflight’s default tune is based around a 6S light weight racing quad. Since a freestyle quad is much heavier, it requires general modifications for a good baseline tune. Generally PD Balance is anywhere from a 0.8 to 1.2 and P & D Gain strength sliders range from 1.3 to 1.7.
Note:
- D_ min turned off (does not help with prop wash)
- Set ESC Motor Timing to 23-deg in BLHeli_32 firmware. In BLHeli_S, M or JESC, set Timing to Medium-High.
- ESC PWM frequency is 24khz. If you prefer 48khz ESC PWM frequency, set as such and paste “set thrust_linear = 25“ in the BF CLI and type “save” [enter] afterwards.
- This tune will be the same for 4S or 6S rigs. Typically the motor KV differential compensates for the voltage increase and/or pilots implement a throttle cap on higher KV 6S quads.
PIDs
Rates
Filters
CLI Settings (Copy & Paste)
set pidsum_limit = 1000
set pidsum_limit_yaw = 1000
save
Betaflight PIDs are based around a 6S – 5″ racing drone so the default values should be a good baseline. If a little heavier, you may need to move the P & D Gain slider up to increase flight performance. Also the default filters are conservative, so increasing the filters sliders to 1.5 (both) OR 2.0 on the Gyro filter slider and 1.5 on D-term filter slider is warranted.
Note:
- D_ min turned off (does not help with prop wash)
- Set ESC Motor Timing to 23-deg in BLHeli_32 firmware. In BLHeli_S, M or JESC, set Timing to Medium-High.
- ESC PWM frequency is 24khz. If you prefer 48khz ESC PWM frequency, set as such and paste “set thrust_linear = 25“ in the BF CLI and type “save” [enter] afterwards.
- This tune will be the same for 4S or 6S rigs. Typically the motor KV differential compensates for the voltage increase and/or pilots implement a throttle cap on higher KV 6S quads.
PIDs
[Betaflight Defaults]
Rates
Filters
CLI Settings (Copy & Paste)
set pidsum_limit = 1000
set pidsum_limit_yaw = 1000
save
Similar to Whoops, 6″/7″ quadcopters have a low power to weight ratio so the PD Balance and P & D Gain sliders both need to be moved up to compensate. If motors are not up-sized, this may even require that you move the sliders (both) up to 2.0.
Recommended motors for a 6″/7″ is 25xx+
Recommended motors for a 7″/8″ is 28xx+
IMPORTANT NOTE: if you are using 28xx+ motors, the below ‘PD Balance’ and ‘P and D Gain’ sliders may need to be at 1.2 vs. 1.5 as shown below; at least to start and move them up from there.
The best way to get peak flight performance for a 6″/7″ quadcopter is to have appropriately sized motors. Bigger is better.
Note:
- D_ min turned off (does not help with prop wash)
- Set ESC Motor Timing to 23-deg in BLHeli_32 firmware. In BLHeli_S, M or JESC, set Timing to Medium-High.
- ESC PWM frequency is 24khz. If you prefer 48khz ESC PWM frequency, set as such and paste “set thrust_linear = 25“ in the BF CLI and type “save” [enter] afterwards.
- This tune will be the same for 4S or 6S rigs. Typically the motor KV differential compensates for the voltage increase and/or pilots implement a throttle cap on higher KV 6S quads.
PIDs
Rates
Filters
CLI Dump (Copy & Paste)
set pidsum_limit = 1000
set pidsum_limit_yaw = 1000
save
Like a 6″/7″ quad, the power to weight ratio – which is really the power to inertia ratio – continues to go down as the arms get longer and motors/props get heavier and are further away from the center of mass. If motors are not up-sized, this may even require that you move the sliders (both) up to 2.0 or start to move up the Master Slider as well to get more range.
Minimum motor size for a 9″/10″ is 28xx+
Consider going to a 31xx motor size. Lower power to weight quads have a much narrower tuning window.
Note:
- D_ min turned off (does not help with prop wash)
- Set ESC Motor Timing to 23-deg in BLHeli_32 firmware. In BLHeli_S, M or JESC, set Timing to Medium-High.
- ESC PWM frequency is 24khz. If you prefer 48khz ESC PWM frequency, set as such and paste “set thrust_linear = 25“ in the BF CLI and type “save” [enter] afterwards.
- This tune will be the same for 4S or 6S rigs. Typically the motor KV differential compensates for the voltage increase and/or pilots implement a throttle cap on higher KV 6S quads.
PIDs
Rates
Filters
CLI Dump (Copy & Paste)
set pidsum_limit = 1000
set pidsum_limit_yaw = 1000
save