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…sadly in the community there are also a lot of well intentioned people who unfortunately give the wrong advice due to misunderstanding how things work. It’s not because they are stupid, but because to truly understand the pid controller and associated filtering, it takes a lot of time and effort – time most people don’t have because this is a hobby where most people have limited time to spend on. 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. The reactions and quotes above to the Supafly tuning is the much appreciated confirmation that this time has been well spent, and that our customers really enjoy their quads.

In the early years of FPV it seemed unfair, almost elitest that only seasoned Pros could get a really great flying FPV build. At Supafly a part of the mission has been to allow anyone no matter how much experience, get a high performance quad that flies as good (or better ;)) as the ‘Pro’s’. 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 smooths out the flying, resulting in noticeably better HD video, and the correct filtering creates a more responsive feel. 

All flight firmware have their pro’s and con’s, and soon there will be an updated Supafly tune for all. Any tunes published on this page can work for other similar freestyle frames, of course I cannot guarantee it and Supafly accepts no liability…and for Supafly customers there are custom setups available on a password protected page for max performance. The general tunes below based on years of testing and learning are a gift to the community.

Supafly Aikon Stack Customers Click Here for full setup

Supafly Betaflight 4s Freestyle Tune

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

• set gyro_lowpass_hz = 0
• set gyro_lowpass2_hz = 200
• set dyn_notch_width_percent = 2
• set dyn_notch_q = 400
• set dyn_notch_min_hz = 160
• set dyn_notch_max_hz = 320
• set dyn_lpf_gyro_min_hz = 0
• set dyn_lpf_gyro_max_hz = 300
• set dshot_bidir = ON
• set gyro_rpm_notch_harmonics = 1
• set gyro_rpm_notch_q = 1000
• set dyn_lpf_dterm_min_hz = 80
• set dyn_lpf_dterm_max_hz = 140
• set dterm_lowpass_type = BIQUAD
• set dyn_lpf_dterm_curve_expo = 8
• set dterm_lowpass2_hz = 0
• set anti_gravity_gain = 12000
• set feedforward_transition = 20
• set iterm_relax_cutoff = 10
• set p_pitch = 70
• set i_pitch = 80
• set d_pitch = 60
• set f_pitch = 100
• set p_roll = 60
• set i_roll = 60
• set d_roll = 55
• set f_roll = 100
• set p_yaw = 80
• set i_yaw = 110
• set f_yaw = 100
• set d_min_roll = 40
• set d_min_pitch = 45
• 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