# Betaflight Feedforward Tuning Guide: Improve Stick Feel and Reduce Bounce
Feedforward is the most misunderstood term in Betaflight PID tuning — but it’s also one of the most powerful tools for dialing in crisp, responsive stick feel. If your quad feels sluggish on quick flips or bounces at the end of sharp rolls, feedforward tuning is the solution. This guide explains what feedforward does, how to tune it, and the common mistakes that make your drone fly worse.
## What Is Feedforward?
In simple terms: **PID reacts to errors; feedforward anticipates movement.**
| Term | What It Does | Input Source |
|——|————-|————–|
| P (Proportional) | Corrects current error | Gyro vs setpoint difference |
| I (Integral) | Corrects accumulated error over time | Error sum over time |
| D (Derivative) | Dampens oscillations | Rate of change of error |
| **Feedforward** | **Drives motors before error occurs** | **Stick movement (setpoint rate of change)** |
When you snap the roll stick to full deflection, the P term has to wait for an error to appear before it can react. Feedforward sees the stick movement instantly and sends power to the motors preemptively. This dramatically reduces the initial error spike and makes the quad feel more locked-in.
## Feedforward Sliders Explained
Betaflight provides separate feedforward settings for each axis and for two distinct phases:
| Parameter | What It Controls | Typical Range |
|———–|—————–|—————|
| Feedforward (Pitch/Roll/Yaw) | Static weight — applies to all stick movements | 60-150 |
| Feedforward Transition | How feedforward decays as stick returns to center | 0.0-1.0 |
| Feedforward Max Rate Limit | Caps feedforward at extreme stick speeds (anti-bounce) | 0 (off) to 100 |
### Feedforward Transition Deep Dive
The transition parameter (0.0 to 1.0) is the key to eliminating bounce-back:
– **Transition = 0.0**: Feedforward is fully active even during stick return. This gives maximum responsiveness but can cause bounce at the end of sharp movements.
– **Transition = 0.5** (default): Feedforward fades out linearly as the stick decelerates toward center.
– **Transition = 1.0**: Feedforward drops to zero the moment you start easing off the stick. Smoothest stop but may feel disconnected.
## Step-by-Step Feedforward Tuning Process
### Step 1: Zero Everything and Establish Baseline
Before touching feedforward, ensure your P, I, and D are solid. Feedforward masks PID issues — it won’t fix a bad tune.
“`
1. Set Feedforward = 0 on all axes
2. Fly a few packs — does the quad oscillate, wobble, or feel loose?
3. Fix any PID issues first (P too high = oscillations, D too low = propwash)
4. Once the quad flies smoothly with zero feedforward, proceed
“`
### Step 2: Increase Feedforward in 20-Point Steps
“`
1. Start: Pitch FF=60, Roll FF=60, Yaw FF=60
2. Fly aggressively — snap rolls, sharp flips, quick 180° yaw spins
3. Feel check: Is the initial stick response crisp or mushy?
4. Increase by 20: Try 80, then 100, then 120
5. Stop when: You feel bounce at the end of sharp movements, or the quad feels “twitchy”
“`
### Step 3: Tune Transition to Eliminate Bounce
If you get bounce at higher feedforward values:
| Bounce Behavior | Transition Fix |
|—————-|—————-|
| Bounce on roll only | Increase Roll Transition (try 0.6 → 0.8) |
| Bounce on pitch only | Increase Pitch Transition |
| Bounce on both axes | Increase both, or reduce FF by 10-15 |
| No bounce but feels loose | Decrease Transition (try 0.3 → 0.4) |
### Step 4: Fine-Tune Per Axis
| Axis | Typical FF Value | Notes |
|——|—————–|——-|
| Roll | 100-130 | Usually tolerates the highest FF; motors spin up fast on roll |
| Pitch | 90-120 | Similar to roll but often slightly lower due to frame stiffness differences |
| Yaw | 60-100 | Yaw has inherent damping; too much FF causes tail wag |
## Feedforward and Prop Size
Larger, heavier props (5.1-inch, aggressive pitch) need more feedforward because they have more rotational inertia to overcome. Smaller props (4-inch, light bi-blades) need less.
| Prop Type | Suggested FF Starting Point |
|———–|—————————|
| 3-inch tri-blade (light) | Roll 70, Pitch 70, Yaw 50 |
| 5-inch freestyle (HQ Ethix S5) | Roll 100, Pitch 100, Yaw 70 |
| 5.1-inch aggressive (HQ J37) | Roll 120, Pitch 110, Yaw 80 |
| 7-inch long range (bi-blade) | Roll 90, Pitch 90, Yaw 60 |
## Common Feedforward Mistakes
| Mistake | Symptom | Fix |
|———|———|—–|
| FF too high | Bounce-back after flips/rolls, motors sound “angry” | Reduce FF by 10-20 or increase Transition |
| FF too low | Quad feels loose, delayed response to stick | Increase FF in 10-point steps |
| Ignoring Transition | Bounce at all FF levels | Increase Transition; 0.5 is default, try 0.7 |
| Copying someone else’s tune | Your quad flies differently | FF is build-specific — different motors, props, weight all affect the ideal value |
| Tuning FF before PID | Fighting symptoms, not root cause | Zero FF, fix PID, then add FF |
## FF Interpolation and RPM Filters
In Betaflight 4.4+, feedforward uses an interpolated setpoint signal that’s cleaner than raw RC input. This reduces high-frequency noise in the FF signal and works especially well with RPM filtering enabled.
For flight controllers that cleanly handle high-rate setpoint interpolation — particularly F7 and H7 models with ICM-42688P gyros — you can push feedforward higher without introducing noise. Browse the F7/H7 flight controller selection at **uavmodel.com** for boards that excel at feedforward-heavy tunes.
## The Golden Rule of Feedforward
**Feedforward should be the last thing you tune, not the first.** A well-tuned PID loop with zero feedforward should fly smoothly but feel slightly soft. Feedforward adds sharpness — it’s the seasoning, not the meal.
Start conservative: Roll 80, Pitch 80, Yaw 60, Transition 0.5. Fly. Increase roll and pitch by 10 at a time until you feel the quad instantly obey your sticks without bouncing at the end. That’s your number. Write it down. Every build is different.