What does Betaflight Anti-Gravity do?

Anti-Gravity temporarily boosts I-term gain during rapid throttle changes to prevent the quad from dipping or washing out on punch-outs. It compensates for I-term lag caused by sudden acceleration, keeping the drone locked in during aggressive maneuvers.

What is the best Anti-Gravity gain for freestyle?

For freestyle flying, start with anti_gravity_gain = 4.5 to 5.5, with anti_gravity_mode set to SMOOTH. If you see I-term oscillations during punch-outs, reduce gain by 0.5. Racing pilots typically use lower values (3.0-3.5) for more precise control.

What does Throttle Boost do in Betaflight?

Throttle Boost amplifies the initial portion of your throttle stick movement without increasing top-end power. It makes the quad feel more responsive to throttle input. Start at throttle_boost = 8 for freestyle, 5 for racing, and 3 for cinematic flying.

Betaflight Anti-Gravity, I-Term Relax, and Throttle Boost: Complete Setup Guide

Q: Should I enable I-Term Relax?

Yes, I-Term Relax should be enabled for almost all pilots. It reduces I-term accumulation at high throttle, preventing the quad from bouncing back after flips and rolls. Set iterm_relax = RP, iterm_relax_type = GYRO, and iterm_relax_cutoff = 15 Hz for a balanced setup.

# Betaflight Anti-Gravity, I-Term Relax, and Throttle Boost: Complete Setup Guide

Betaflight includes several advanced features that dramatically improve flight feel — especially for freestyle pilots pushing hard on the throttle. This guide explains what Anti-Gravity, I-Term Relax, and Throttle Boost do, when to use them, and the exact settings that work best.

## What Is Betaflight Anti-Gravity?

Anti-Gravity is a feature that **temporarily increases I-term gain during rapid throttle changes**. When you punch out, the sudden acceleration causes the I-term to lag behind, making the quad feel loose or “wash out.” Anti-Gravity compensates by boosting I-term proportionally to your throttle movement speed.

### How to Configure Anti-Gravity

“`
set anti_gravity_gain = 4.0
set anti_gravity_threshold = 1350
set anti_gravity_mode = SMOOTH
“`

– **anti_gravity_gain**: Multiplier for I-term boost. Start at 3.5 for racing, 4.5-5.5 for freestyle.
– **anti_gravity_threshold**: Throttle change rate (μs/ms) that triggers the boost. 1350 is a good default.
– **anti_gravity_mode**: `SMOOTH` applies a gradual boost envelope; `STEP` applies it instantly.

**Tip**: If you see I-term oscillations only during punch-outs, your anti_gravity_gain is too high. Drop it by 0.5 and test again.

## I-Term Relax: Stop the Bounce

I-Term Relax reduces I-term accumulation at high throttle, preventing the quad from “bouncing back” after flips and rolls. It is essential for sharp, precise freestyle moves.

“`
set iterm_relax = RP
set iterm_relax_type = GYRO
set iterm_relax_cutoff = 15
“`

Lower cutoff values (= more relaxation) produce smoother stop behavior but slightly softer mid-throttle feel. Freestyle pilots typically prefer 10-15 Hz; racers prefer 15-20 Hz.

## Throttle Boost: Sharper Stick Response

Throttle Boost amplifies the initial portion of your throttle stick movement, making the quad feel more responsive without actually increasing top-end power.

“`
set throttle_boost = 8
set throttle_boost_cutoff = 20
“`

| throttle_boost | Effect |
|—————|——–|
| 0 | Disabled |
| 5 | Subtle boost — good for cinematic flying |
| 8-10 | Noticeable punch — ideal for freestyle |
| 15+ | Very aggressive — racing only |

The combination of Anti-Gravity + I-Term Relax + Throttle Boost transforms a sluggish quad into one that snaps to your stick inputs. But each feature addresses a different problem — do not just max them all out.

## Recommended Presets by Flying Style

### Freestyle (Juicy, Flow-Style)
“`
set anti_gravity_gain = 5.0
set anti_gravity_mode = SMOOTH
set iterm_relax = RP
set iterm_relax_type = GYRO
set iterm_relax_cutoff = 12
set throttle_boost = 8
“`

### Racing (Precision, Low Latency)
“`
set anti_gravity_gain = 3.0
set anti_gravity_mode = SMOOTH
set iterm_relax = RP
set iterm_relax_type = GYRO
set iterm_relax_cutoff = 20
set throttle_boost = 5
“`

### Cinematic / Long Range (Smooth, Efficient)
“`
set anti_gravity_gain = 3.5
set anti_gravity_mode = SMOOTH
set iterm_relax = RP
set iterm_relax_type = SETPOINT
set iterm_relax_cutoff = 10
set throttle_boost = 3
“`

## Tuning Workflow

1. **Start with defaults** — Fly 2 packs to establish a baseline feel
2. **Enable I-Term Relax first** — This prevents bounce-back without side effects
3. **Dial in Anti-Gravity** — Increase gain until punch-outs feel locked, then back off 0.5
4. **Add Throttle Boost last** — Start at 5 and increase until the quad feels responsive without being twitchy

## Hardware That Benefits Most

These features work best on quads with responsive ESCs and low-latency protocols. The **UAVModel H7 Ultimate Flight Stack** supports bidirectional DShot1200 and features an ICM-42688P gyro running at 8kHz — giving Anti-Gravity and I-Term Relax the clean data they need to work perfectly. Check it out at [uavmodel.com](https://uavmodel.com).

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