May 17, 2025
# Betaflight 4.3 Configuration Series: PID Tuning Tab
## Introduction
- **Series Overview**: Comprehensive step-by-step Betaflight 4.3 configuration.
- **Current Focus**: Explanation of the PID Tuning Tab.
- **Goal**: Explain the function of each option in the PID Tuning tab.
- **Note**: This is not a full PID tuning class.
## PID Profiles and Rate Profiles
- **Profiles**: Betaflight has 3 PID profiles and 6 rate profiles.
- **Purpose**: Each profile stores settings enabling quick changes between configurations.
- **Access**: Can be changed via OSD in the field, goggle menu, or automatically based on battery voltage.
## Key Functions in the PID Tuning Tab
- **Copy Profile**: Saves current settings to another profile.
- **Reset Profile**: Resets PID settings.
- **Show All PIDs**: Reveals hidden options, such as compass PID gain.
## Overview of PID Gains
- **Components**: Proportional (P), Integral (I), Derivative (D), and Feedforward.
- **Goal**: Ensure the quadcopter moves according to the input command; poor tuning can lead to erratic flight.
## Sliders in PID Tuning
- **Master Multiplier**: Adjusts all PID gains up or down.
- **Tracking**: Boosts response to external forces.
- **Damping**: Affects D-max parameters to prevent motors from overheating.
- **Stick Response**: Controls feedforward response.
- **Dynamic Damping**: Relates to D-max; adapts based on quadcopter motion.
- **I-term Relax**: Adjusts I-term gains; affects stability during turns.
- **Pitch Tuning**: Separate sliders for pitch axis settings.
## PID Controller Settings
- **Feedforward Section**: Configures feedforward operation, mostly through presets based on RC link.
- **Averaging and Smoothing**: Helps reduce noise and surges.
- **Amplification and Limits**: Further settings for responsiveness.
## I-term and Anti-gravity
- **I-term Relax**: Counteracts I-term buildup during rapid turns.
- **Anti-gravity**: Stabilizes the quad during sudden acceleration changes and is recommended to remain active.
## Throttle and Motor Settings
- **Throttle Boost**: Increases responsiveness for larger quads.
- **Motor Output Limit**: Reduces power for controlling powerful quads or tuning for different batteries.
- **Dynamic Idle**: Dynamic settings of idle motor RPMs for better control.
## Additional Settings
- **V-bat Compensation**: Smoothens power output over the battery life.
- **Thrust Linearization**: Strives to smooth thrust output throughout the throttle range.
- **Cell Counting**: Allows auto-switching of profiles based on battery voltage.
- **Acro Trainer Mode**: Angle limit in training mode.
## Conclusion
- **Continuous Series**: More about rate profiles and filter settings in upcoming videos.
- **Additional Resources**: Includes links to tutorials and further study.