Betaflight bench reference

Configuration areas — not a test sequence

Setup

With props removed, check that the 3D model matches the real quad. Record exact arming flags using the version's supported diagnostic view; an OSD warning can assist diagnosis but is not proof of motor or failsafe acceptance. For selected Build Two, use Chapter11's Prepare ordinary Angle for the first outdoor hover for detected ACC, orientation, calibration and saved readback.

Ports

Match the exact board's pads, reserved services and peripheral plan. Kakute H7 V1.5 uses UART3 for ELRS, UART1 for O4 Pro and reserves UART2 for Bluetooth. GOKU F722 Pro Mini V2 uses UART2 for ELRS and UART3 for Avatar Pro. MSP plus VTX (MSP + DisplayPort) can share the same HD UART; unrelated devices cannot. A UART number does not specify a power rail. For selected Build Two video commissioning, follow Chapter 11's Build Two protected video preparation; a saved Ports row alone does not establish camera or FC-overlay delivery.

Configuration

Board/sensor alignment, accelerometer and other supported feature settings, arming-angle and beeper configuration. Preserve the accepted arming limit; do not increase it to clear ANGLE. ESC protocol belongs in Motors in App 2025.12.2, not this tab. Ordinary two-axis Angle preparation is required for the selected first-hover lesson, not a tuning step or proof of flight readiness. Recovery starts with the Chapter 6 (Build One) or Chapter 9/10 (Build Two) exact device, supply, control and installation record. Normal GPIO needs an active sounder; motor beacons and backup finders are separate routes. Read back event masks and mute; a configured output alone does not prove sound. Backup charge/enable/stop behavior is model-specific. Selected Build Two Finder 2 uses the separate no-video timed-preparation lesson, not an extended sound check: full selected 4S or storage selected 6S, ShortSaver 1 A, FC USB monitoring and the owner's early-stop/finish rules. Never full 25.2 V 6S. The analog Matrix reference cart has no wired finder; do not transfer this charging method to it. Timing is not capacity or a passed function test.

Power & Battery

Voltage/current source and source-specific calibration; detected or deliberately forced cell count; separate warning/critical policy. Verify the exact pack and readings before flight. Alarm settings do not calibrate voltage, and available current/mAh is not automatically reliable. Chapter 11 owns the selected voltage-only comparison/count/warning lesson, including non-draining LOW/LAND checks and restoration to the adopted normal baseline. Keep unqualified consumption fields/alarms excluded; retain actual results in notes/battery-checks.txt. Its optional five-inch charger-relative consumption comparison is separate from absolute-current/range/load-coverage qualification and supplies no flight-reserve guarantee. It is not a prerequisite of the voltage-only route. This reference is not a live test recipe.

Failsafe

Record actual fallback settings and Stage 2 procedure. Use Chapter 11's complete Normal-radio arm/disarm and low-throttle DROP check, both sessions with props off, operator direct view and helper live-FC observation. Keep the owner's preparation, direct-pack/no-USB/final-load entry and bounded observations; this reference is not a live recipe. Retain the configured-state record with actual FC/all-four results, timing and ARM-off recovery limits. Failed, inconclusive or unperformed required checks mean no flight.

PID Tuning

P, I, D and feedforward per axis, plus rates; Anti-Gravity and VBAT sag compensation controls. Read back actual values; Chapter 12 owns tuning changes.

PID Tuning / Filter Settings

Filter Settings is a subtab within PID Tuning in the pinned App source, not a separate top-level Filters tab. Gyro and D-term filters, dynamic notch and RPM filter belong to Chapter 12; this location is not a tested UI workflow.

Receiver

Start with Chapter 11's completed radio-only flight-model record and Chapter 8's compatible endpoint/pairing record, not SIM-USB's button map. UART ELRS uses Serial (via UART) and CRSF; SPI ELRS is a separate receiver mode. Verify each labelled axis, direction, centre and endpoint. Keep RSSI Channel Disabled and RSSI ADC off for ordinary CRSF link stats. The standard Arm using CH5 route puts ARM on CH5 / AUX1. Telemetry enablement is here; verify actual radio reception separately.

Modes

Join the recorded physical controls and radio outputs to observed AUX values; the radio-only model check does not write FC modes. Standard ARM is CH5 / AUX1; optional PREARM uses a separate verified control. A highlighted range is not proof of arming. Selected no-GPS builds leave GPS RESCUE unassigned; optional crash-flip and other modes need their own checks. BEEPER uses a deliberate verified non-ARM control and later qualified props-off audible/stop checks. DISARMING is a state-change tone; DISARM_REPEAT depends on stick arming, not an arm switch left off. Follow the separate ordinary-Angle preparation for the complete saved range/ link set and actual switch observations. Never edit during powered receiver observation or mistake a range highlight for actual flight behavior.

Adjustments

Optional in-flight knob tweaks. Default empty.

Motors

Mixer, ESC protocol, bidirectional DShot and motor-pole controls are here. Read back the exact FC/ESC protocol, loop and bidirectional-DShot combination before any motor command; DShot300 and DShot600 are not interchangeable defaults. Props off, always. This override can command motors while disarmed; it is not normal-radio arming. Use the exact qualified battery/USB arrangement, one serial tool and zero commands before power/tool transitions. Test every motor's physical number, direction, startup and stop. On a verified RPM-capable ESC path, also require live RPM while turning and no more than 1% telemetry error on all four motors. Both selected ESCs use AM32 but have different exact targets; no old J-H-40/Bluejay migration applies. Until the RPM checks pass, do not enable RPM-dependent filtering. Change direction only with supported tooling for the firmware actually installed.

OSD

Plan a readable layout, then verify actual FC data and needed native warnings. The selected Build Two protected-video owner saves the mapped MSP/DisplayPort row, required MSP/HD settings and active OSD profile, then checks camera and advancing FC fields on a protected cold return. Its small commissioning layout does not replace the later flight/warning layout. Optional debug-only canvas CLI names may be absent; that alone is not failure or a reason to flash. A preview does not prove live delivery, warning timing or flight readability.

LED Strip

Optional. Off by default; the book leaves it off.

GPS

Neither selected build includes GPS. An added module needs its exact power/UART/protocol and navigation-state record; GPS Rescue requires separate versioned configuration and practical qualification.

Sensors

Read-only. Verify the gyro and accelerometer produce reasonable values with the quad still.

Logging / Blackbox

Read back device, mode, sampling fraction and enabled fields. The named Kakute H7 V1.5 uses SDCARD: select a separate 16GB microSDHC/FAT32 card (documented support SDSC/SDHC 1–32GB, FAT16/FAT32; not SDXC). GOKU Mini V2 uses 16MB SPIFLASH. Copy the Kakute card after log closure and full safe isolation; use the supported flash-transfer route for GOKU. In firmware 2025.12.5 the sample-rate values are fractions such as 1/4, not the integer 2. The resulting frequency depends on the actual PID loop. NORMAL is arming-based; an unarmed Motors-tab test does not automatically produce that log.

Presets

Optional configuration changes, not required setup. Preserve the last accepted state; check exact preset source/revision, firmware, hardware, options and previewed changes before applying. Save, reboot, read back and repeat affected acceptance checks. Keeping an accepted stock setup is a valid choice.

CLI

Keep complete unmodified diff all and dump all exports with exact board/target/firmware/build and active-profile records. A same-context restore also needs error checks, persisted readback and renewed acceptance; neither export backs up ESC or radio settings. Save writes FC configuration and reboots; exit is not an undo for every command.

What failsafe actually does

1. Signal validation

   Observe the actual receiver and FC loss behavior; do not equate an OSD flag or a nominal threshold with motor-stop latency.

2. Stage 1

   Inspect the saved fallback values and delay. Normal firmware 2025.12.5 defaults to 1.5 s, not a guaranteed end-to-end interval. Low throttle is not disarm.

3. Stage 2

   One of three procedures, set with `set failsafe_procedure`.

   • DROPBeginner route; disarms when reached, but the falling aircraft remains hazardous
   • AUTO-LANDSeparate fixed-throttle landing procedure, not DROP or controlled hover; outside the beginner test route
   • GPS-RESCUESeparate GPS-equipped route, not authorized merely by fitting GPS; qualification remains pending. Selected no-GPS builds stay on DROP.

Complete Chapter 11's two-session, props-off normal-radio owner before any first flight and repeat affected checks after change/repair. Its startup stays disarmed until FC On time is at least 00:06 and advancing; throttle remains low. Record actual FC states/all-four idle and stop, observed RF-loss sequence and recovery with ARM already off, not an ARM-high interlock or in-flight proof. Preserve its stated observation ceilings, recorder-safe ordinary finish or emergency abort and radio restart/readback. This summary and a quick session card do not replace the complete preparation and method.