📄️ 3D Setup
This page is under construction and will be used to outline how to set up 3D mode on a multirotor and should list out the important and easily missed steps in order to avoid incidents.
📄️ Acro Trainer
Adds a new angle limiting mode for pilots who are learning to fly in acro mode. Primarily targeted at new LOS acro pilots, but can be used with FPV as well.
📄️ Arming Sequence & Safety
Switch arming
📄️ Blackbox Explorer MinMax Control
The MinMax control feature can control curves scale and placement quickly and full.
📄️ Blackbox Explorer Power Spectral Density Charts
The Blackbox Explorers spectrum analyser can show power spectral density (PSD) charts
📄️ Barometer
Barometers measure air pressure to determine altitude. They are highly sensitive, responding to a breath of air, and are very temperature sensitive. Typically they incorporate accurate temperature sensors to provide compensation.
📄️ Battery Monitoring
Betaflight has a battery monitoring feature. The voltage of the main battery can be measured by the system and used to trigger a low-battery warning buzzer, on-board status LED flashing and LED strip patterns.
📄️ 2025.12 CLI Command Line Reference
For best results, in your web browser, use Ctrl-F to find CLI command in question.
📄️ Blackbox Flight Data Recorder
Rendered flight log frame
📄️ Broken USB Rescue
It is possible to flash FCs via UART without further requirements, this can be useful to continue using FCs with a broken USB port.
📄️ Buzzer Mute Mode
With Beeper Mute Mode you can silence the buzzer as long it's not needed.
📄️ Buzzer
Betaflight supports a buzzer which is used for the following purposes:
📄️ Command Line Interface (CLI)
Betaflight has a command line interface (CLI) that can be used to change settings and configure the FC.
📄️ Community Presets
The below presets are **by the community, for the community**. You will see the BF version the preset is targeted toward and the pilot's name who published their recommended preset(s). We encourage community members to provide their own presets on this page. To do so, you simply need a Github account. Enjoy!
📄️ Configuration
Betaflight is configured primarily using the Betaflight App.
📄️ Controls
Arming
📄️ Crash Recovery
When a crash is detected, the flight controller will attempt to recover the craft to a level attitude, then give the control back.
📄️ Current Sensor Calibration
Some boards include a current sensor in order to provide measures such as "Battery current draw", "Battery mAh drawn" and others. More often than not, the current sensor has to be thoroughly calibrated for the measures to be accurate. Also, Betaflight includes a Virtual Current Sensor feature that can be used when the current sensor is missing or broken. This sensor needs a different calibration procedure to be performed in order to provide reasonably accurate measures. The Betaflight documentation includes very valuable advice on how to calibrate both sensors: Battery
📄️ DFU Hijacking
Introduction
📄️ DShot RPM Filtering
Recent Announcements
📄️ Debug Modes
CLI INFORMATION COMMANDS
📄️ Deep Dive
Introduction
📄️ Display
Betaflight supports displays to provide information to you about your aircraft and Betaflight state.
📄️ DSHOT
DShot is the name coined for a new digital ESC protocol by Felix (KISS) who is working in collaboration with Boris and the rest of the betaflight team, and Steffen (BLHeli) is also playing his part and introducing this protocol to BLHeli_S.
📄️ Dynamic D
Dynamic D varies the D-term between a base D value (active during calm, smooth flight) and a higher D Max value (active during fast moves and propwash). It lets you keep D low enough to avoid motor heat and noise in cruise, while still having strong damping available when the quad needs it, e.g., during hard flips or in propwash.
📄️ Dynamic Idle
Introduction
📄️ ESC Telemetry
There are two ways to get ESC data to the flight controller:
📄️ External OSD - MWOSD - CMS
This guide is intended for users who do not have an embedded OSD and / or wish to use an external OSD
📄️ FAQ
The following FAQs are common questions that were asked in Boris' ßF or other RCG threads.
📄️ Betaflight Flight Controller LED Usage
Betaflight Flight Controllers typically have two LEDs, possibly three which indicate the conditions below.
📄️ FPV Camera Control
Description
📄️ Failsafe
If the radio link is lost, or the receiver fails or becomes disconnected, the pilot will have no control over their aircraft.
📄️ Feed Forward 2.0
Betaflight 4.1 brings us Feed Forward 2.0 - a comprehensive set of updates to FeedForward.
📄️ Flight Controller Orientation
There are many videos available on the internet explaining how to align a flight controller (FC) to a model aircraft frame, e.g. Flight Controller Orientation Settings in BetaFlight from Cyclone FPV.
📄️ Flying Tips
Introduction
📄️ FrSky FPORT Protocol
Motivation
📄️ The FrSky SPI RX
Basics
📄️ Freestyle Tuning Principles
This is a work in progress and not a final document.
📄️ GPS Rescue 4.1 to 4.3
WHAT THIS IS:
📄️ GPS Rescue
GPS Rescue is an advanced safety feature that can autonomously fly the craft home after loss of the RC or video link, until it is close enough to re-gain control. It can also land and disarm with reasonable precision.
📄️ GPS
GPS works best if the GPS receiver is mounted above and away from other sources of interference.
📄️ Gyro Offset Yaw
Introduction
📄️ HID Joystick Support
HID joystick support is currently only available on F4 / F7 boards.
📄️ Hardware Reference
Introduction
📄️ Iterm Relax Explained
I term relax aims to inhibit I during fast manoeuvres by preventing it to further accumulate. Simply put I term relax will keep I constant during fast manoeuvres.
📄️ Single Wire FlySky IBUS Telemetry
It's now possible to combine the serial rx and ibus telemetry on the same fc uart on a single pin.
📄️ IRC Tramp
Prerequisite
📄️ In-Flight Adjustments
With Betaflight it's possible to make adjustments to various settings by using AUX channels from your transmitter while the aircraft is flying.
📄️ Integrated Yaw
Overview
📄️ LED Strip
Betaflight supports the use of addressable LED strips. Addressable LED strips allow each LED in the strip to be programmed with a unique and independent color. This is far more advanced than the normal RGB strips which require that all the LEDs in the strip show the same color.
📄️ Launch Control
Description
📄️ MAVLink Telemetry to Connect Betaflight to the Mission Planner Ground Control Station.
The Betaflight can be connected to Ground Control Stations by using ExpressLRS-MAVLink mode:
📄️ Magnetometer / Compass
These notes only apply to Magnetometers in Betaflight 4.5 or higher
📄️ Mass Storage Device Support
Mass storage device support allows the micro SD card or the flash chip of your flight controller to be mounted as an external storage device on your PC. This allows for easy drag / drop download of log files.
📄️ Mixer
Betaflight supports a number of mixing configurations as well as custom mixing. Mixer configurations determine how the servos and motors work together to control the aircraft.
📄️ Modes
There are various modes that can be toggled on or off. Modes can be enabled/disabled by stick positions, auxiliary receiver channels and other events such as failsafe detection.
📄️ Multicopter Spazzing Out?
Since I've run into this issue so often on various facebook threads and /r/multicopter posts, I decided it would be worthwhile to compile a (written) checklist for to diagnose your quad
📄️ OSD Profiles
An OSD Profile is a screen or page of OSD elements. Three OSD Profiles are supported, i.e. you can configure 3 different OSD Profiles or pages each with their own OSD elements. Elements may also be on all 3 profiles. The OSD can still be turned on or off as before via an AUX channel. Hence users who don't want this feature are not affected by its availability. With no profiles are configured for elements, all elements are visible, i.e. OSD Profile 1 is the default profile. Keep in mind that if an element is used, it must be in the same position on all OSD Profiles in which it is visible. It is not possible to configure an element to be in a different location on a different profile.
📄️ PID Tuning Guide
Quadcopter and Betaflight cheat sheet
📄️ Paralyze For Team Races
During team relay races it's unsafe to retrieve crashed quads because the course is continuously hot. In order to safely fly a backup quad with the primary quad crashed in the field (but powered up) it's necessary to:
📄️ Pinio & PinioBox
Overview
📄️ Position Hold 2025.12
Betaflight 2025.12 introduces Altitude Hold and Position Hold.
📄️ Presets 4.3
Welcome to Betaflight firmware-presets support!
📄️ Profiles (Aka PID Profiles)
A Profile is a set of performance-related configuration settings. PID values, Filter settings, Anti Gravity, Crash Recovery, and more. Currently, 3 Profiles are supported. The default Profile is profile 1 (profile 0 in CLI).
📄️ Presets Quick Start for Authors
This is a step-by-step guide on how to create your first preset, verify, and submit it for approval.
📄️ Rate Calculator
Betaflight supports different rates models. A rate model is the mathematics used to transform the stick position to a turn rate in deg/s. Three parameters, RCRate, Rate, and Expo, determine the curve of the rate model.
📄️ Remapping Motors with Resource Command
Necessity for swapping/shifting/rotating motor positions rises from time to time. Before v3.1, we had to either use long wires between FC and ESC to retain the original mapping (which make the build messy) or use a custom mix to change how each motor contributes to attitude adjustment.
📄️ Resource Remapping Command
NOTE: this command is only available in version 3.1 and newer of Betaflight.
📄️ Running with Reversed Motors
Spinning outwards at the front and back
📄️ RSSI
RSSI is a measurement of signal strength and is very handy so you know when your aircraft is going out of range or if it is suffering RF interference.
📄️ RunCam Device Protocol
Description
📄️ Runaway Takeoff Prevention
Description
📄️ Receivers (RX)
A receiver is used to receive radio control signals from your transmitter and convert them into signals that the flight controller can understand.
📄️ SBus FPort and Open Tx
OpenTX has the problem that it fails to fully utilise the hardware that FrSky sells for SBus and FPort (called 'D16' in OpenTX terminology). As a consequence, on FrSky hardware that is perfectly capable of supporting 4 RC channels and up to 12 switch channels with an update rate of 9 ms, OpenTX (up to and including version 2.2.3 at least) only supports an update rate of 18 ms for the RC channels. To make matters worse, it does this by sending RC frames to the flight controller at intervals of 9 ms, but sends identical RC data for each pair of consecutive frames.
📄️ Safety
As many can attest, multirotors and RC models in general can be very dangerous, particularly on the test bench. Here are some simple golden rules to save you a trip to the local ER:
📄️ Serial Blackbox Logging
OpenLog is not a suitable serial blackbox logging device for Betaflight 4.0 and beyond
📄️ Serial Passthrough
Update FrSky XSR RX Firmware
📄️ Serial
Betaflight has enhanced serial port flexibility but configuration is slightly more complex as a result.
📄️ Servos & Servo Tilt
Introduction
📄️ Setup for Fixed Wing Aircraft
_If you're looking to fly a simple delta wing, scroll to bottom._
📄️ SmartAudio
SmartAudio is a single-wire solution for VTx control, originally developed by TBS on their Unify range of Analog Vtx devices.
📄️ Soft Mounting and Noise Reduction
FAQ #56 has been where all the info has been put. We will be editing FAQ #56 to put information on this page.
📄️ SoftSerial
Softserial provides a means to add another 'virtual' UART on MCU's with a limited number of pinned-out true UART ports, eg F411's.
📄️ Sonar
A sonar sensor can be used to measure altitude for use with BARO and SONAR altitude
📄️ Spektrum Bind Support
Spektrum bind with hardware bind plug support.
📄️ Supported Sensors
Introduction
📄️ Telemetry
Telemetry is information sent back to your RC transmitter via the RC data link. For example, telemetry allows for your RC transmitter to read out your main battery voltage or RSSI. For telemetry to work your RC receiver and transmitter must support it. The specific data that Betaflight will send via telemetry depends on the telemetry protocol being used.
📄️ Transponder
Betaflight supports the generation of race transponder signals on compatible targets.
📄️ USB Flashing
Some newer boards with full USB support must be flashed in USB DFU mode. This is a straightforward process in Configurator versions 0.67 and newer. The standard flashing procedure should work successfully with the caveat of some platform specific problems as noted below. The "No reboot sequence" checkbox has no effect as the device will automatically be detected when already in bootloader mode (a DFU device will appear in the connect dropdown if this is the case). The Full chip erase checkbox operates as normal. The baudrate checkbox is ignored as it has no relevance to USB.
📄️ Units
This document describes the current variables used to configure specific elements depending on the measurement unit applied.
📄️ VTX
Betaflight supports control of VTX modules.
📄️ Yaw Spin Recovery and Gyro Overflow Detect
Yaw Spin Recovery Notes