Learn: Betaflight tuning knowledge
Everything PIDoctor knows, in one place: quick answers, plain-language definitions and step-by-step guides for reading your blackbox and fixing your tune.
Is it free? Filters or PIDs? Why are my motors hot? The most common questions, answered straight.
Guides
All guides →The optimal tuning flightHow to read a Betaflight blackbox logSet up blackbox logging for the best analysisDiagnosing motor & D-term noise — filters, not PIDsHow to fix propwash in BetaflightPID tuning basics with step responseFilter tuning: gyro/dterm lowpass, dynamic notch, RPM filterWhy are my FPV drone motors hot — and how to fix it?Fix oscillations and wobble in BetaflightBetaflight PID tuning: the complete step-by-step guideBetaflight feedforward tuning: sharper stick response without bounceBetaflight yaw tuning: crisp rotations without bounce-backSet up the RPM filter (bidirectional DShot)Betaflight filter settings explained (4.5 / 4.6)Understanding the PIDoctor tune scoreTinywhoop tuning: dialing in small quadsLong-range and 7-inch tuning: efficiency and stabilityUnderstanding and setting Betaflight rates & expoHow to read the FFT noise spectrumMechanical noise and soft mounting: noise at the rootTuning D_min / D_max: damping without hot motors
Glossary
All 42 terms →PID controller (P/I/D)PropwashD-term noiseMotor noiseDynamic notch filterRPM filterGyro lowpass filterD-term lowpass filterStep responseOvershootRise timeFeedforwardTPA (Throttle PID Attenuation)Phase marginBlackbox debug mode (unfiltered gyro)D_min / D_max (dynamic D)Anti-gravityDynamic idle (dyn_idle)Thrust linearization (thrust_linear)Bidirectional DShot (RPM telemetry)SetpointPIDsumMid-throttle oscillationI-term relaxRC smoothingBode plotThrottle boostAirmodeGyroscope (gyro)Looptime / PID loop frequencyDShotMotor timingSoft mounting (gyro isolation)Prop balancingIntegrated yawAbsolute controlI-term windupVBat sag compensationRates & expoStatic notch filterCenter of gravity (CG)Throttle limit