Cube FPV

Read this before you start – About checking motor direction


Have you just upgraded your ESC firmware from BLHeliS to a 32 bit firmware? If so, then go to the Motors Tab in BetaFlight and check your motor rotation direction. If any of the motors are not rotating the correct direction, use BLHeli software to reverse the direction of those motors before continuing with this guide. 

STEP 1. Set PID and DShot settings in BetaFlight


Connect to BetaFlight via USB cable and go to the Configuration Tab.

Set the Gyro Update Frequency and PID Loop Frequency
If your ESCs have a H in the middle of their software version (Example: G-H-30, 16.7)
For 4K PID loops (8K4K 0r 4K4K)on the right-hand side of this screen, change the “ESC/Motor protocol” to DSHOT300

For 8K PID loops (8K8K) you must use DSHOT600 as the “ESC/Motor protocol”
If your ESCs have an L in the middle of their software version (Example: G-L-30, 16.7)
Use DShot150 and a 2K2K PID loop.

Then below that, enable the “Bidirectional DShot” toggle. Next, count the number of magnets around the bell of your motors and enter this number in the “Motor Poles” box.
Click Save and Reboot 

STEP 2. Check for motors errors


Connect the battery first and then after hearing the arming tone from the ESCs connect the USB lead.
Remove props and on the motors tab, enable “I understand the risks” at the bottom. Then, with the motor sliders, run up the motors just a bit and check that the error percentage below each motor reads less than 1%.
If it’s above 1%, go back to the Configuration tab and try using a lower K value for the Gyro Update Frequency and PID Loop Frequency, and change to DShot300 if running 4K loops.


STEP 3. Set up basic Gyro RPM Filter settings


On the PID Tuning tab under Filter Setting, enable “Gyro RPM Filter” if not already enabled. Leave the two settings here at their default values for now.
Save and Reboot


STEP 4. Check your Gyro Update Frequency and PID Loop Frequency


In the CLI Tab, type “Tasks” into the box and hit enter. In the generated list, check the value for Gyro and PID. It should be the same or within 1% of the value that you set for your Gyro Update Frequency and PID Loop Frequency on the Configuration tab. (Example – If your Gyro Update Frequency and PID Loop Frequency was set to 8K 8K in the Configuration Tab then the Gyro and PID values shown in the task list should be showing 8000)

STEP 5. Check the Maxload


Also check the MaxLoad column of the tasks readout and make sure these are both well under 50%. If not, then go back to the Configuration Tab and reduce the Gyro Update Frequency and / PID Loop Frequency and then re-check. Remember to also change to DShot300 if you have just set both the Gyro Update Frequency and PID Loop Frequency to 4K.

STEP 6. Set the PID tuning and filter settings


In BetaFlight go to the PID Tuning Tab – and then the Filter Settings sub-tab.
On the top in the “Gyro Lowpass Filters” section – Turn off all the gyro lowpass filter toggles.
Below that on the bottom left of the screen in the “Dynamic Notch Filter” section, set the values as below.
Dynamic Notch Width Percent – 0
Dynamic Notch Q – 250
Dynamic Notch Min – 150
Dynamic Notch Max – 600
On the top right of the screen in the D Term Lowpass Filters section, disable the top and bottom toggles.
Enable the middle toggle and set the two values as below
D Term Lowpass 1 Cutoff Frequency – 100
D Term Lowpass Filter Type – BIQUAD
Click Save
Note: Remember when test flying, If you get rough sounding motors, then reduce the D Term Lowpass 1 Cutoff Frequency from 100 to 95 or 90.

STEP 7. PID Profile Settings


On thePID Tuning Tab – under the PID Profile Settings (the 1st sub tab)
On the right-hand side of the screen – Turn off the toggle for “D Min”
Then on the left-hand side – increase the Master Multiplier by 2 notches to 1.2
Note: If you are new to FPV, I would strongly advise just leaving the Master Multiplier at 1.2 and skip the next step in these instructions.
Click Save

STEP 8. Test fly and adjust settings


Test fly the quad and if there is no ticking noises from the motors, flight osculations or rough sounding motors you can increase the Master Multiplier by one 1 notch at a time and re-test. Once you start to hear ticking noises, osculations or rough sounding motors, go back down one or two notches on the master multiplier. Also, if the motors feel hot upon landing, take the Master Multiplier back a notch.
An important note on tuning: On most well-built quads, you can take the master multiplier up to 1.4 or 1.5. However, fine-tuning goes against reliability. A finely tuned quad will have problems if the props become damaged or slightly bent. What about if your battery or something else comes loose. Will you lose your quad because you had it finely tuned? Personally, regardless of how far I could take the master multiplier, I rarely set it higher than 1.2 or 1.3.

STEP 9. Set the stick response gain


Finally, once you have found the desired position for the Master Multiplier, increase the Stick Response Gain to the same position as the Master Multiplier.
Click Save