Betaflight PID Tuning Basics

Betaflight PID Tuning Basics

PID values shape how your quad reacts. The defaults are conservative — you can usually do better.

What each gain does

• **P (Proportional)**: how aggressively the quad corrects toward the stick command. Too high → oscillation. Too low → mushy.
• **I (Integral)**: corrects sustained error (wind, prop wash). Too high → bounce-back. Too low → drifts in turns.
• **D (Derivative)**: dampens P. Reduces high-frequency oscillation. Too high → motor heat.

Workflow

1. Start with a known-good preset for your weight class. 2. Hover and check motor temps after a 2-minute pack. 3. Punch out and watch for prop wash bounce. 4. If oscillating, lower D first, then P. 5. Use blackbox to check FFT noise peaks — filter them with notch / RPM filter.

Common mistakes

• Tuning before the build is mechanically clean (loose props, bent shafts cause "tune" issues that aren't tune).
• Changing too many things at once.
• Trusting feel over data — always check blackbox.