Tuning

Building a high performance freestyle quadcopter is a complicated task, and many pilots usually settle for ‘stock tuning’ which the flight firmware comes with because the mere construction is enough of a challenge, let alone learning about gyro filtering and PID control theory…Stock tuning however is usually a low performance compromise in order to be safe and applicable across a broad range of components. Sure it flies ‘ok’ but the PIDs are usually much lower and the filtering much higher than necessary resulting in a loose and latent performing build-it is like driving a Ferrari with tyres half inflated. However knowing what to change and by how much can seem baffling and the result is often a lot of head scratching when most people would rather just fly…

One of the goals at Supafly is to help anyone get a high performance quad that flies as good as the ‘Pro’s’ you see in videos (or better 😉 ), without all the confusion. A well tuned quad feels totally ‘locked in’ which is a description of the way it feels to have the correct amount of P and I term locking the quad in place in response to stick movements. This encourages better flying because of the subtle subconscious effect of having better control. The correct amounts of D gain and filtering smooths out the flying and results in noticeably better HD video. 

As you can see all the three major flight firmware have been tested and tuned, but currently I fly Betaflight due to the combination of reliability, cost, transparency (easy to fix issues) and community, and now offer a fully set up, custom RPM filter tuning with the Aikon Supafly stack. However there is a stock Betaflight tuning below as well to get people started who don’t want/need the latest BF tech tune.

RPM Filter Tune and settings for Supafly Aikon Stack Customers Click Here

Flipmode/Juicemode Betaflight 4 (non-RPM filter) Tune:

2400-2600kv motor HQProp 5x4.3x3

Copy bullet point text below, paste into Betaflight configurator ‘CLI’ tab then press enter…it will save and reboot the configurator – and tune your quad.

• set gyro_lowpass_type = PT1
• set gyro_lowpass2_hz = 0
• set dyn_lpf_gyro_min_hz = 200
• set dyn_lpf_gyro_max_hz = 500
• set motor_pwm_protocol = DSHOT600
• set dyn_lpf_dterm_min_hz = 80
• set dyn_lpf_dterm_max_hz = 180
• set dterm_lowpass_type = BIQUAD
• set dterm_lowpass2_hz = 0
• set feedforward_transition = 30
• set iterm_relax = RPY
• set iterm_relax_cutoff = 11
• set p_pitch = 70
• set i_pitch = 85
• set d_pitch = 40
• set f_pitch = 50
• set p_roll = 60
• set i_roll = 75
• set d_roll = 40
• set f_roll = 50
• set p_yaw = 50
• set i_yaw = 90
• set f_yaw = 40
• set d_min_roll = 0
• set d_min_pitch = 0
• set anti_gravity_gain = 10000
• set tpa_rate = 40
• set tpa_breakpoint = 1500
• set tpa_mode = PD
• set debug_mode = GYRO_SCALED
• save

Flipmode/Juicemode Betaflight 3.5

2400-2600kv motor HQProp 5x4.3x3

• feature AIRMODE
• feature anti_gravity
• feature dynamic_filter
• set gyro_lowpass_type = PT1
• set gyro_lowpass_hz = 120
• set gyro_lowpass2_type = PT1
• set gyro_lowpass2_hz = 0
• set dterm_lowpass_type = BIQUAD
• set dterm_lowpass_hz = 100
• set dterm_lowpass2_hz = 0
• set anti_gravity_gain = 10000
• set iterm_relax = RPY
• set p_pitch = 68
• set i_pitch = 80
• set d_pitch = 40
• set f_pitch = 105
• set p_roll = 58
• set i_roll = 70
• set d_roll = 40
• set f_roll = 105
• set p_yaw = 75
• set i_yaw = 70
• set f_yaw = 110
• set tpa_rate = 25
• set tpa_breakpoint = 1500
• set feedforward_transition?= 30
• set debug_mode = gyro_scaled
• save