# Betaflight Flight Modes Explained: Acro, Angle, Horizon, and Air Mode
Understanding Betaflight flight modes is the difference between confident control and a crashed quad. Each mode changes how the drone interprets your stick inputs and how the PID controller maintains stability. This guide covers every mode, when to use each, and how to configure them on your radio switches.
## The Four Core Flight Modes
### Acro Mode (Rate Mode)
Acro — also called Rate Mode — is the standard for FPV flight. When you move the stick, the drone rotates at a rate proportional to stick deflection. When you release the stick, the drone holds its current angle — it does NOT self-level.
– **Stick controls**: Rotation rate (degrees per second)
– **Self-leveling**: None
– **Best for**: Freestyle, racing, cinematic cruising
– **Requires**: Constant pilot input to maintain orientation
### Angle Mode
Angle mode limits the maximum tilt angle and self-levels when you release the sticks. The stick position maps directly to an angle — push the stick 50% and the drone tilts to 50% of the maximum configured angle (usually 45-55 degrees).
– **Stick controls**: Angle (0° to max angle)
– **Self-leveling**: Yes — releases sticks, drone returns to level
– **Best for**: Beginners, indoor whoops, precision hovering
– **Limitation**: Cannot flip or roll
### Horizon Mode
Horizon is a hybrid. At low stick deflection it behaves like Angle mode (self-leveling). Push the stick to the edge and it switches to Acro — allowing flips and rolls.
– **Stick controls**: Angle near center, Rate at edges
– **Self-leveling**: Yes when sticks are centered
– **Best for**: Transitioning from Angle to Acro
– **Warning**: The transition point between Angle and Acro behavior can feel unpredictable
### Air Mode
Air Mode is NOT a flight mode by itself — it is an add-on that keeps the PID controller active at zero throttle. This means you maintain full control authority even when the throttle is at zero during inverted maneuvers, dives, and flips.
| Scenario | Without Air Mode | With Air Mode |
|—|—|—|
| Zero throttle flip | Drone tumbles uncontrollably | Full control throughout |
| Inverted dive | Motors stop, no correction | PID maintains attitude |
| Low throttle cornering | Reduced authority | Full authority |
## Mode Configuration Table
| Mode | Aux Channel Setup | Recommended For |
|—|—|—|
| Acro ONLY | No mode active on aux switch | Experienced pilots |
| Angle | Single aux position | Beginners / indoor |
| Acro + Air | Acro (no mode) + Air Mode ON | Freestyle / racing |
| Horizon | Single aux position | Transition phase |
| Angle + Air | Both positions active | Indoor with authority |
## Setting Up Modes in Betaflight
1. Go to the **Modes** tab
2. Assign an AUX channel to each mode using the range sliders
3. Set up a 3-position switch for: Angle → Horizon → Acro (no mode)
4. Enable **Air Mode** as a permanent feature (slider covers full AUX range) for freestyle builds
5. Click **Save**
## Recommended Configurations
### Beginner Setup (3-Position Switch)
– Position 1: Angle Mode (safe, self-leveling)
– Position 2: Horizon Mode (transition)
– Position 3: Acro Mode (no mode active)
### Freestyle Setup
– Arm switch only
– Air Mode permanently enabled
– No Angle or Horizon configured
## Hardware Note
Setting up flight modes requires a radio with at least one 3-position switch. Entry-level radios like the RadioMaster Pocket and Jumper T-Lite — both stocked at [uavmodel.com](https://uavmodel.com) — provide ample switches for mode configuration without breaking the bank.