# Betaflight PID Tuning Fundamentals: P, I, D Sliders and Practical Tuning Workflow
If your FPV drone wobbles after flips, oscillates at high throttle, or feels overly “loose” in the turns, your PID tune needs attention. PID tuning is the single most impactful thing you can do to transform a mediocre-flying quad into a locked-in machine. This guide breaks down what each PID slider does, how they interact, and provides a repeatable tuning workflow you can use at the field.
## What Are PIDs in Betaflight?
PID stands for **Proportional, Integral, and Derivative**. These three terms form a control loop that constantly corrects motor speed to match your stick inputs and stabilize the craft against disturbances like wind and prop wash.
| Term | What It Does | Too High | Too Low |
|——|————-|———-|———|
| **P (Proportional)** | Immediate response to error — how hard the FC pushes to correct | Fast oscillations, hot motors | Mushy, slow response, prop wash overshoot |
| **I (Integral)** | Accumulates past error — holds attitude against steady forces like CG offset or wind | Slow wobble on punch-outs, I-term windup oscillation | Drift in attitude, won’t hold angle |
| **D (Derivative)** | Dampens P’s action — predicts future error and resists fast changes | D-term noise in FPV feed, hot motors from micro-oscillations | Bounce-back after flips/rolls, ringing on prop wash |
## The Tuning Workflow: A Repeatable 5-Step Process
### Step 1: Set a Known Baseline
Start with Betaflight’s default PIDs for your build type. If you’re using a preset (like UAV Tech’s or Chris Rosser’s), load it first. **Always save a CLI diff before making changes** so you can revert.
### Step 2: Tune P First
Raise P-gain on Roll and Pitch incrementally (0.5 to 1.0 at a time) until you see fast oscillation in the FPV feed or hear motor buzzing on hard stops. Then back off by 10-15%. This is your maximum usable P.
### Step 3: Tune D for Damping
After P is set, raise D to eliminate bounce-back after flips and rolls. Too much D will cause hot motors and introduce high-frequency jitter in the video feed. Listen to your motors — if they sound “angry” with a high-pitched whine at hover, lower D.
### Step 4: Fine-Tune I for Hold
I-gain handles persistent errors. If your quad drifts in a steady hover or slowly changes attitude during long punch-outs, raise I. If you see slow oscillation (0.5-1Hz) on rapid throttle changes, lower I.
### Step 5: Check Filters
A tune is only as good as your filters. Over-filtering hides tuning issues; under-filtering amplifies noise. Use RPM filtering if your ESCs support it (BLHeli_32 or Bluejay with bidirectional DShot).
## PD Balance and the Master Multiplier
The **PD Balance** slider adjusts the ratio of P to D. Moving it right increases P and decreases D for sharper response. Moving left increases D and decreases P for smoother, more cinematic flight.
The **P and D Master Multiplier** scales all P and D gains proportionally — useful for quick field adjustments when switching between props (e.g., from light biblades to heavy triblades).
## Recommended PID Starting Points by Build Type
| Drone Type | P (Roll/Pitch) | I (Roll/Pitch) | D (Roll/Pitch) | PD Balance |
|————|—————–|—————–|—————–|————|
| 5-inch Freestyle | 50/58 | 55/60 | 35/38 | 0.9 |
| 3-inch Cinewhoop | 45/50 | 50/55 | 40/45 | 0.7 |
| 7-inch Long Range | 40/45 | 45/50 | 30/33 | 0.8 |
| 5-inch Racing | 55/65 | 50/55 | 30/33 | 1.1 |
> **Pro Tip:** For a locked-in freestyle rig with minimal prop wash, pair a high-quality flight controller with a low-noise gyro like the ICM-42688P. The [**UAVModel F722 Flight Controller**](https://uavmodel.com) offers ICM-42688P gyro support and ample UARTs, giving your tune the hardware foundation it deserves.
## Common Tuning Mistakes
– **Tuning with a damaged prop**: Even a tiny nick creates vibration that you’ll chase with filters.
– **Tuning on a low battery**: PID response changes with voltage sag. Always tune with a fresh pack.
– **Ignoring I-term Relax**: On high-power setups, I-term relax (set to 15-20) prevents windup during aggressive moves.
– **Copying someone else’s tune**: Same FC, different frame = different resonant frequencies. Use presets as starting points, not final solutions.
## Using Blackbox to Verify Your Tune
After field tuning, record a Blackbox log and check:
1. **Gyro vs Setpoint**: Gyro should track setpoint closely with minimal overshoot.
2. **Motor traces**: No clipping at 100%, no excessive D-term activity.
3. **Spectrogram**: No resonant peaks — if you see spikes, add dynamic notch filters.
## Final Checklist
– [ ] Saved CLI diff before starting
– [ ] Tuned with fresh props and full battery
– [ ] P set to just below oscillation threshold
– [ ] D eliminates bounce-back without hot motors
– [ ] I holds angle without slow wobble
– [ ] Verified with Blackbox spectrogram
A well-tuned quad feels like an extension of your hands. Take the time to dial it in — your FPV footage and lap times will thank you.