"Betaflight 4.5+ PID and Filter Tuning for Beginners"
author Tuning Master•July 1, 2026•15 Minute reading•1,332 views
Understand PID control
P (proportional term) is responsible for immediately correcting attitude deviations. I (integral term) is responsible for maintaining attitude. D (derivative term) is responsible for suppressing violent oscillations and resisting external wind resistance.
Basic knowledge of filtering
In Betaflight 4.5 firmware, the RPM filter is enabled by default. Please ensure that your electronic speed controller (ESC) has enabled bidirectional DShot, so as to provide real-time feedback of motor speed to the flight controller.
