# Betaflight tuning

**URL:** <https://greyarro.ws/t/betaflight-tuning/63247>\
**Category:** Racing Quads, Self-builds & FPV\
**Tags:** fpv\
**Created:** [26 May 2023 19:57 UTC](https://greyarro.ws/t/betaflight-tuning/63247 "2023-05-26T19:57:28Z")\
**Posts on this page:** 4\
**Page:** 1

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**Author:** ![notveryprettyboy](https://greyarro.ws/user_avatar/greyarro.ws/notveryprettyboy/32/144159_2.png) [@notveryprettyboy](https://greyarro.ws/u/notveryprettyboy)\
**Post date:** [26 May 2023 19:57 UTC](https://greyarro.ws/t/betaflight-tuning/63247/1 "2023-05-26T19:57:28Z")

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This has been bugging me for a few years now. How to tune your quad in Betaflight.  
There’s all sorts of settings - P, I, D, d min. d max, i term relax, antigravity, feedforward etc

![confused022](https://d1q8cepst0v8xp.cloudfront.net/original/3X/a/c/acf000c172d78e5cb0f0f1994b5ba9ffdd02b522.gif)

My 5" quad felt fine on 4s with flysky years ago. Then I upgraded to crossfire and suddenly the bounceback vanished (a wobble after a flip or roll).

Then I went to 6s. Major wobbles. So I tamed down the P and D terms and it was _okish_.

I now have a source 2 frame with titanium alloy arms and it just never feels right at 1/4 to full throttle. I’m guessing the arms are ringing like a tuning fork that needs filtering out. 🤷‍♂️

Anyway, this thread is to show how I will try to tune my quad using the blackbox logs.

First off, I did a preliminary tuning flight tonight. And the stats are posted too.

I haven’t got a problem with the setpoint (no high frequency noise) so the rc link is sound. But I have harmonic problems at 150hz, 300hz and 450hz in the motors (they were hot on landing)

All help appreciated 👍

 ![image](https://d1q8cepst0v8xp.cloudfront.net/original/3X/3/0/302f8701a13715b5d7a2aa1efda46b287fbdb260.png)

It definitely isn’t motor related as they all have the same noise…

 ![image](https://d1q8cepst0v8xp.cloudfront.net/original/3X/2/d/2d559ec0e4813921a24171dd471ebe91c5a2c13b.png)

Although, saying my step response is fine… looks like there is a definite wobble. The motors were hot so the d term was working too hard, so I need to reduce the p/d term I think

 ![image](https://d1q8cepst0v8xp.cloudfront.net/original/3X/b/5/b5c47b4e017a0e705603362d46e04f04d110f457.png)

[![](https://d1q8cepst0v8xp.cloudfront.net/original/3X/5/4/540890be0e9fc5c6b4aff793c8ae2183e5c048ce.jpeg "AvatarG0036") ](https://www.youtube.com/watch?v=T1v1yojNljc)

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<div class="post-metadata">

**Author:** ![SirGunner](https://greyarro.ws/user_avatar/greyarro.ws/sirgunner/32/37569_2.png) [@SirGunner](https://greyarro.ws/u/SirGunner)\
**Post date:** [26 May 2023 22:55 UTC](https://greyarro.ws/t/betaflight-tuning/63247/2 "2023-05-26T22:55:48Z")

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Will be watching this with interest, still dont have a clue about tuning with black box logs lol

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<div class="post-metadata">

**Author:** ![Howard78](https://greyarro.ws/user_avatar/greyarro.ws/howard78/32/68392_2.png) [@Howard78](https://greyarro.ws/u/Howard78)\
**Post date:** [26 May 2023 23:26 UTC](https://greyarro.ws/t/betaflight-tuning/63247/3 "2023-05-26T23:26:34Z")

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Think you need a drone doctor.

Intrigued by this wizardry

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<div class="post-metadata">

**Author:** ![notveryprettyboy](https://greyarro.ws/user_avatar/greyarro.ws/notveryprettyboy/32/144159_2.png) [@notveryprettyboy](https://greyarro.ws/u/notveryprettyboy)\
**Post date:** [3 June 2023 16:29 UTC](https://greyarro.ws/t/betaflight-tuning/63247/4 "2023-06-03T16:29:41Z")

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Bear with me

Took her out this morning to try to tune.  
I reduced the pd gains (master multiplier). It helped a ‘little’. But still massive vibrations.

I crashed (as usual) and put my dshot beeper on. I noticed the beeps where ringing.

I examined the blackbox and noticed noise at 160hz. So I put a gyro notch filter on at centre 160hz, down to 120 and up to 200.

Hey presto! Less noise. Easy peasy. I need another notch filter at around 100hz too I think. Here is the spectro of roll / pitch before and after.

Bottom line is, filter out the crap before trying to tune pids

 ![roll](https://d1q8cepst0v8xp.cloudfront.net/original/3X/e/1/e183e3bef3e9d98ac8c2aa263b3716838e9f762d.jpeg)

 ![pitch](https://d1q8cepst0v8xp.cloudfront.net/original/3X/f/9/f98745b23bc1849dbd277ca8ba275a60dc90d089.jpeg)

 ![roll2](https://d1q8cepst0v8xp.cloudfront.net/original/3X/7/9/796d9c7bef216e01499319f223e2ea9ceecb0f29.jpeg)

 ![pitch2](https://d1q8cepst0v8xp.cloudfront.net/original/3X/8/f/8f3c6a6b8a0308c2b6eaea0fbeb96b86cdce41ef.jpeg)