Get my ENTIRE Betaflight 4.5 Tuning Guide covering Filters, PIDs, and Rates as a PDF here: https://www.patreon.com/collection/435076?view=expanded Timestamps: 0:00 Intro 1:00 The PID-F Controller 2:25 P Term 3:00 D Term 3:42 P:D Balance 4:25 I Term 5:12 P:I Balance and Tuning Flow 6:00 Feedforward 6:32 Tuning Flights 7:44 Unleash your PID controller 8:12 tuning Analogy 8:45 Master Multiplier 9:32 Tuning Powerful Motors 10:40 Disable Dynamic D Term 11:07 Gradually Increase Master Slider 13:06 Dynamic Idle 13:59 Throttle PID Attenuation 15:20 Finding the right P:D Balance 16:05 Using PIDToolbox for Step Response 20:55 Tuning I term 23:08 I term Relax 24:19 I term Windup 25:00 Antigravity gain 27:05 I term rotation and absolute control 28:19 Setting up Feedforward 29:28 Adjusting Feedforward 32:36 Feedforward Boost 33:50 Feedforward Max Rate Limit 35:13 Dynamic Damping 46:30 Dynamic Damping Blackbox Settings 36:52 Dynamic Damping Gain 37:19 Tuning Dynamic Damping 39:36 Throttle Boost 40:04 Motor Output Limit 40:31 Vbat Sag Compensation 41:13 Thrust Linearisation 41:44 Outro