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 different types of quadcopter build. 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…With Supafly, there was a motive to spend that time for the sake of the customers in order to offer something extra, not to mention an inherent interest to genuinely understand the tech.

A well tuned quad feels ‘locked in’ which is the traditional FPV description of the way it feels to have the correct amount of P and I term holding and moving the quad in response to stick movements. Any slack or heavy feel is now gone. This typically encourages more confident and better flying because of the subconscious effect of having a positive feeling of control. Alongside the right levels of P and I term, correct amounts of D gain smooths out the movements, resulting in noticeably better HD video. Combine this with our custom approach of performance filtering, set according to real world needs and countless hours of testing, Blackbox logging and and PID Toolbox spectrograms, it creates an overall flight experience on Betaflight which truly demonstrates how well a quad can fly. Check the responses at the bottom of the page for user feedback….

Supafly Customers Click Here for full setup

Supafly General Betaflight 4s Freestyle Tune

For 4s – 2400-2700kv motor – ideally HQProp 5×4.3×3 or similar lightweight freestyle prop

• set gyro_lowpass_hz = 300
• set gyro_lowpass2_hz = 0
• set dyn_notch_width_percent = 2
• set dyn_notch_q = 400
• set dyn_notch_min_hz = 100
• set dyn_notch_max_hz = 320
• set dyn_lpf_gyro_min_hz = 120
• set dyn_lpf_gyro_max_hz = 400
• set dshot_bidir = ON
• set gyro_rpm_notch_harmonics = 1
• set gyro_rpm_notch_q = 1000
• set dyn_lpf_dterm_min_hz = 0
• set dyn_lpf_dterm_max_hz = 140
• set dterm_lowpass_type = PT1
• set dterm_lowpass2_hz = 140

• set dterm_lowpass_hz = 70
• set anti_gravity_gain = 14000
• set feedforward_transition = 80
• set iterm_relax_cutoff = 10
• set p_pitch = 70
• set i_pitch = 90
• set d_pitch = 50
• set f_pitch = 150
• set p_roll = 60
• set i_roll = 80
• set d_roll = 50
• set f_roll = 150
• set p_yaw = 80
• set i_yaw = 110
• set f_yaw = 150
• set d_min_roll = 38
• set d_min_pitch = 40
• set d_min_boost_gain = 100
• set d_min_advance = 0
• set tpa_rate = 40
• set tpa_breakpoint = 1700
• set tpa_mode = PD
• set debug_mode = GYRO_SCALED
• set pidsum_limit = 1000
• set pidsum_limit_yaw = 1000
• save

For 6s 1750kv – 1850kv:

Add above then:

• set p_pitch = 60
• set d_pitch = 46
• set d_min_pitch = 40
• set p_roll = 52
• set d_roll = 46
• set d_min_roll = 38
• set p_yaw = 60

For 6s 1950kv

Add main tune above then:

• set p_pitch = 55
• set d_pitch = 45
• set d_min_pitch = 36
• set p_roll = 50
• set d_roll = 45
• set d_min_roll = 32
• set p_yaw = 60