# Betaflight Modes and Aux Switch Configuration: Arm, Angle, Horizon, Acro, and More

Setting up your flight modes correctly is the difference between a quad that flies exactly how you want and one that fights you at every turn. Betaflight’s mode system controls everything from arming to GPS Rescue, and while the default configuration might get you airborne, a properly tuned mode setup transforms how the quad responds to your inputs. This guide covers every Betaflight mode, how to assign them to AUX switches, and the optimal mode combinations for different flying styles.

## How Betaflight Modes Work

Betaflight modes are activated when an AUX channel’s value falls within a defined range. Each mode has three configuration parameters in the Modes tab:
– **AUX Channel**: Which radio channel controls this mode (AUX1 through AUX14, depending on your receiver)
– **Activation Range**: The min and max channel values that activate the mode (typically 900-2100µs range per channel)
– **Link**: Optional linking to another mode activation state

## Essential Flight Modes

### ARM — The Most Important Mode

The ARM mode enables motor output. Without arming, the quad will not spin its motors regardless of throttle position.

**Setup Tips:**
– Always assign ARM to a dedicated two-position switch
– Enable the “Prearm” mode on a separate momentary switch for safety
– Never assign ARM to a three-position switch — accidental partial activation is dangerous

**Arming prerequisites (all must pass):**
– Throttle at minimum (below min_check)
– Accelerometer calibrated (if enabled)
– GPS fix obtained (if GPS Rescue is configured)
– No runaway takeoff prevention flag active

### ANGLE — Self-Leveling Mode

Angle mode limits the quad’s maximum tilt angle and automatically returns to level when the sticks are centered. The maximum angle is set by the `max_angle_inclination` CLI parameter (default 50 degrees).

**Best For:**
– Beginners learning orientation
– Cinewhoop indoor flying
– Landing in tight spaces
– Emergency recovery if you lose orientation

**Angle Strength Tuning:**
“`
set angle_level_strength = 50 (default, higher = faster self-leveling)
set angle_limit = 55 (degrees, max tilt allowed)
“`

### HORIZON — Hybrid Mode

Horizon mode behaves like Angle mode near center stick but transitions to Acro (rate) mode at full stick deflection, allowing flips and rolls while still self-leveling when sticks are centered.

**Best For:**
– Transitioning from Angle to Acro
– Pilots who want flips with a safety net
– Rarely used by experienced pilots

### ACRO (Rate Mode) — Pure Manual Control

Acro is the absence of any self-leveling mode. When no Angle or Horizon mode is active, the quad defaults to Acro. Stick input directly controls the rate of rotation, and the quad holds its attitude when sticks are centered.

**Best For:**
– All freestyle flying
– Racing
– Any experienced pilot

### AIRMODE — Always On

Airmode keeps the PID loop active at zero throttle, maintaining attitude control even during zero-throttle maneuvers like inverted hang time, dives, and flips.

**Modern Recommendation**: In Betaflight 4.3+, Airmode is permanently enabled when the ARM mode is active. There’s no separate switch — it’s always on when armed.

## Special Function Modes

### BEEPER — Lost Model Alarm

Activates the buzzer for locating a crashed or lost quad. Configure on a momentary switch or the “beeper” position of a three-position switch.

**Setup**: Assign to AUX channel → set activation range to cover a specific switch position (e.g., 1800-2100)

### TURTLE MODE (Flip Over After Crash)

Reverses specific motors to flip the quad upright after landing upside down. Also known as “Crash Recovery” or “Flip Over After Crash.”

**Requirements:**
– DShot ESC protocol (required — will not work with Oneshot/Multishot)
– Motors configured in Betaflight (correct direction and numbering)
– Assign to a separate switch from ARM

### BEEPER + GPS RESCUE Override

If both BEEPER and GPS RESCUE are configured, set GPS Rescue to a different switch range. Many pilots use a three-position switch: Position 1 = Beeper, Position 2 = Disabled, Position 3 = GPS Rescue.

### FAILSAFE Mode

Automatically activated (no switch assignment) when the receiver signal is lost. Configure in the Failsafe tab:
– Stage 1: Short-term signal loss → motors drop to idle for configured duration
– Stage 2: Long-term signal loss → motors disarm OR GPS Rescue activates

### HEADFREE Mode

Makes the quad’s orientation relative to the pilot’s position at arming. Forward stick always moves the quad away from the arming point, regardless of its actual heading.

## Rate Profile Selection

Betaflight supports up to 6 rate profiles, each with independent RC Rate, Super Rate, and Expo settings. Use the RATE PROFILE SELECTION mode to switch between profiles in flight.

## Recommended Mode Switch Layouts

### OpenTX / EdgeTX Radio Setup

### Betaflight Mode Tab Settings

| Mode | AUX | Range |
|——|—–|——-|
| ARM | AUX1 | 1800-2100 |
| PREARM | AUX4 | 1800-2100 |
| ANGLE | AUX2 | 900-1300 |
| BEEPER | AUX3 | 1800-2100 |
| GPS RESCUE | AUX3 | 900-1300 |
| FLIP OVER AFTER CRASH | AUX5 | 1800-2100 |

If your flight controller has enough UARTs for GPS and advanced mode switching, the [UAV Model F7 Stack](https://uavmodel.com) provides 6 full UARTs — enough for ExpressLRS, GPS, VTX control, camera control, and future expansion without compromises.

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