We are so lucky to have smart people like Chris in our hobby 🙌 great work Chris I’m going to give this a try.

Great first steps in bringing BF angle mode up to snuff! There is TONS of great things in Emuflight that we worked on and tested 1,000's of flights on that would improve it even more, reduce gimbal lock when reaching 90 degrees and smoothing out the whole angle system to give angle pilots tunable control and push the limits. Let's hope more advancements happen, but very happy to see Chris add some Angle Passion back to BF!

Thank you Chris for what you do. FPV may be a small audience but you sir are very awesome. Thank you for helping us improve the world of FPV. Thank you

Mad props to Silver13 who first implemented all this over a decade ago in silverware and passed the knowledge and working example along for the rest of us to use in projects like quicksilver and betaflight. Great job getting BF up to speed!

Chris, this is awesome! Can't wait to give it a try, though I haven't flown angle mode in quite awhile. Hopefully this makes flying whoops in the house fun again, or at least a lot more fun!

Fantastic, Chris! Amazing work!!

Thank you so much for this Chris, this is exactly what I've been wanting the quad to feel like in angle mode! It is so much easier to fly now, so much faster as well. What a huge difference!

Man... the amount of value and improvement you bring to this hobby is just amazing. First you fixed frames and tuning for us... and now that angle mode! When I learned FPV, I quickly moved away from angle mode to Acro with my Tinyhawk... it just didn't feel well. You explained quite well why! This is gonna be an interesting change!

Always appreciate your content. Thank you!

Like Always, the best explaining of PID Loops and the internals of an FC. 👍

Great work Chris!

Such a great video! Thank you Chris!

I gave it a try today, and I definitely like the improvement! I am able to fly into tighter gaps at home. Thanks for the great work, Chris!

Thanks for this info, updated my Holybro Kopis 2.5 whoop and it is much more responsive in angle now, had to adjust my rates a little but flies much better now 👍

This was awesome Chris, I can't wait until this is included in the release.

It's been a while. Good video as always 👍

This is excellent, Chris!

awesome change in angle mode Chris! this will be awesome for cinewhoops!

Gr8 video, didn't ever think about angle VS acro mode being so different in terms of fundamental axes controls, particularly pitch/roll VS yaw in angle mode 💪👍

I'm visiting Bangkok and flew a 80mm quad with a Vista off a rooftop restaurant. I used angle mode because I wasn't too familiar with the fairly small area and it made my landing more controllable (no inadvertent drifting over the rooftop ledge..) Technically my wife was spotting but not reliably after a few glasses of wine 😄 So there are some benefits to angle mode but you have to fly it completely different to get proper cinematic footage.

Someone really analyze something and is smart enough to change it :) GOOD JOB

Thanks Chris, this will help newbie and tinywhoop a lot.

Hey Chris, crackin video! Great explanations and solutions. Never even thoughts about these angle mode handling issues, just thought it’s angle mode… but these improvements are great, I gotta setup my tiny quad like this. Thanks for the video, Cheers!

Great new feature. Thank you so much.

This is great! Thanks Chris!

Next betaflight will have a new mode: Acro, angle, horizon and Rosser mode! This looks so cool. I'm very interested in seeing how these changes would affect "level race mode"

Thanks another awesome video, I can't wait to try this .

Thank you Chris! As a almost daily fpv quad flyer for 10 years, I’m so satisfied/grateful with base/clean/Betaflight’s focused on 5 inch Rate/Acro mode all these years, as decent whoops only appear in the last 4 years…..And after 40+ years in this wonderful world of Land/air/sea R/C……the weakest link is still the Pilot…..get out and fly😎

You are the man - thank you for your work!

Thanks for all of the great content Chris! I tried getting this to work but it failed. I was able to upload what look like BF 4.5 and tried reinstalling my profile and things were a mess. I too knew to this to really troubleshoot. I re-flashed it to 4.4 and installed my profile and now back in business. I may give it another poke in a few days.

Also, thank you for explaining feed forward! I started flying in 2019 and got really interested in the technical side of things thanks to people like Joshua Bardwell. But NO ONE (no offense, UAV Tech :) could really explain the basics of tuning. They all tend to gloss over the most important concepts. In a matter of seconds, you just perfectly explained something that others have struggled to do.

Reminds me of the old rate gyros vs heading hold. I believe the issue then was the wind up of the loop that happened the longer you held the stick. Feed forward sounds like some extra gain on the stick authority that happens depending on the rate of initial stick change and again rate that it slows.

I usually only fly acro in non windy conditions. So I mostly fly angle mode and have put up with the lack of responsiveness. The wobble explanation is pure gold and I never really understood why I got wobble in all my angle mode flying until viewing your details today on error's between the two co-ordinate systems. I hope enhanced/updated BF angle mode can make it to official BF release soon. Going to try this release on an F4 based whoop that I only fly indoors. Subbed!

This is awesome !!! Many Thanks!

Dayum, the responsiveness in angle mode went through the roof! Thank you so much! Need to tune my Mob6 again with BF4.4, but I'll manage that somehow I guess.

Very interesting and informative video. I still fly angle mode on whoops indoors. This looks like it will be very helpful. My favorite whoop to fly was the Alienwhoop Zero running NotFastEnuf Silverware. It was a ripper. 😎

I’m not yet flying but I thought that this slower response was the whole purpose of angle mode. I’m going to watch this, though, because you’ve got a great way of explaining things!

Tested it today, and I must say that Im very impressed. Its compleatly new mode... Its finaly usable as it should be

Thank you for your genius idea, uncle temperatur 😍👍🏻

Okay, freeze frame at 1:50 -- I know we're talking about angle mode and all but HOLY BEJEEZUS I've never seen a quad tuned so well! The stops on those snaps are like punching a brick wall.

Okay, so I installed 4.4, and I gotta say, it is indeed all that 'n' a bag o' crisps. Chris, my Man, you are indeed of Merlin-grade wizard stock. Angle Mode is at least a couple of orders of magnitude better now. I can do things with ease that took some effort before. And this after only flying a handful of packs so far. The switch was easy as cake, with no issues on either upgrade. Thanks much, Good Sir. Once again you've helped majik my little dudes into something wonderful.

'dump all' / 'diff all' are better for a config backup than just 'dump' / 'diff' as the 'all' backs up every profile not just the active one.

Awesome! I only use angle for take off in small areas

thank you for sharing

I only use angle mode on a temp switch on the right. If I ever get in a bind I can hit the switch and it levels out perfect.

Woow! Thanks!

I almost never use Angle/Horizon mode anymore even when flying inside but I found that Horizon mode and reducing the Horizon Strength gave me much better response. I've also played with Horizon Transition. I will certainly try this new setup to see if it's worth going back to self-leveling.

For racing with this it seems like you should put yaw on the right stick and only use that for turns.

I have several different frames of your design. I just did a comparison video of the 3.5 V2 and the 03 quite oblivious to the DJI 03 accomodation. I have another video about the colored carbon. I see the 03 UL5 is now a longer fuselage. I really like the UL5 with tight bracing.

Interesting content, thank you for sharing 👍 Does this update also reduce the gimbal lock problem (which occures in angle-mode, when the pitch angle is 90 deg)? I wonder, if there is a flight mode built with quaternions (where there is never a gimbal lock possible).

Seems very worthy update for home whooping :) Will try when it will get released in official release.

holy whoop batman - I didn't realize this! I've been flying the baby nano 20 and was trying angled for the first time since I learned how to fly.. I abandoned it cause I thought I just got too good for it. lol Thanks Chris for letting me know it was betaflight and not me flying brilliant. lol

This is awesome. Were the root causes (lack of feed forward, and yaw/roll using different control mechanisms) of these issues known ... or did you discover these through experimentation? Great job.

I sold my 'proper' favs (protek 35 & Cinelog 25) because of the hassle of the way they flew in angle, bought the avata and its just as bad at times, but without the ability to configure. Thinking I'll be buying the Cinelog 20 soon

Tested on a DIY 2" whoop, flying inside. STM32F411 on a Happymodel ELRS X1 AIO 2-4S (CRAZYBEEF4SX1280). Caddx Vista, so a bit heavy at 78 g without battery & the motors are too small; 1202 8420KV's. The only initial problem was the same as noted on comments in Github: ELRS was lost at first. In CLI, "get express" - the AU domain after flashing is probably wrong and needs to be set again. Diff did not fix this, had to be manually changed. Tested with the defaults (angle_feedforward = 50 and angle_earth_ref = 100). *Very nice behavior.* Finally this whoop runs OK in Angle mode. Was able to hit smaller gaps and fly much faster than with the regular 4.4.4 RC3 it had before this. Rapid turns in tight spaces feel much better. Will test with different values later. I really hope this gets into 4.4.0?

This feature would be nice for RTH and also for position hold.

Is there an update to this? When I go into the 'Do you want to test this build' comment, the 'assets' link no longer works :😟 In addition, any ETA on when this will actually be in the standard build? Thanks Again.. great video! )👍👍

Hey Chris, I stumbled across this video for angle mode, searching for something different, and it's incredible insight into this mode! Great work! I learned a lot here, except I'm currently struggling with one aspect of the angle mode for cinewhoop filming. Everything is flying really slow and smooth in angle mode with the added ff feature but I have tried many setting changes to keep my throttle from bobbing up and down including the reference from your video pertaining to the throttle curve and expo. No matter what I do, I still have a slight movement up and down and can't seem to relax the throttle. It really comes through on the naked go pro footage as the horizon of an indoor atmosphere is moving up and down even after stabilization. Are there any extra tips you have that I can mess around with to get the perfect flight feel. Thanks in advance and for all you do for our hobby!

Since rescue mode uses angle mode this will help there too!

Mmmmkay. I stopped this a minute in to say this should be good. I fly Angle exclusively, and I have my BF 4.3.2 rigs tuned to what I consider nigh-on perfect. I can't wait to see what else I can learn from Mister Wizard here. Teach me, my Sensei. . . your pupil abides.

Nice. cool stuff to consider. bookmarked.

i fixed my angle mode whooping a while ago, i put it in acro mode lol! i only ever use angle mode when im flying LOS while walking back from where ever i crashed lol

Its great, but for me the biggest problem in angle mode is angle drift over time and after hitting gates, we need to rearm again to recalibrate angle.

Going to have to give this a go. I think the FF update will help dial in my whoop racing laps. Main issue I have though is flying micro whoops in angle mode and I bump into something, BF freaks out and tries to fly off in the opposite direction.

Brilliant!

Fascinating stuff indeed! Thanks, Chris! 😃 Do you have any idea if it's going to be added to Betaflight 4.4? Stay safe there with your family! 🖖😊

hi, every time I click the assets in github I get the message "Failed to generate URL to download artifact."I would appreciate any help.

Hello Chris! Thank you for your work! This is very interest improvment. I try to tune angle mode on my tiny whoop in BF 4.5 RC2 to follow your manuals in PR. I understand not full, how can i tune feedforward smoothing. Please, can you provide some screen shot from BlackBox explorer with good step response angle debug parameters. That will be very helpfull.

This is brilliant, going to try this! How does this compare with the mockingbird project work? Very interesting!

Thanks for a very informative video. And also a little trip down memory lane, to the days when I was part of a team developing a scripted VR system. Made lots of coordinate transformations back then! One thing I wonder now and would be great if you could pin a comment stating if this was included in the 4.4 release or not. Now when 4.4 is released.

Great work! The only sad thing is that it won't be shipped in 4.4 :)

This sounds great. Which version of Betaflight will this be in? I don't see it in the release notes for 4.3, thanks.

Never thought I'd see fuzzy logic applied in my favorite hobby

Hey Chris i am trying to flash my F722 board but i dont know what hex i should use. Is it the F7X2 hex file?

Great! But what will happen, when the 4.4 is released? You will still have an option to download an automated build from this pull request with 4.4 and upcoming final releases?

I have been using your v4.0 file on my 4" LR and have been very happy with the improvement in the way it flies in angle mode, I am about to replace the Vista on this quad with the DJI 03 air unit and would like to update to Betaflight 4.4 to get the latest OSD improvements, can I do this in a way without losing the angle mode improvements ?

Do you think this would be beneficial for 3.5" Cinewhoops and those few times I use angle mode for small spaces?

I run angle mode mostly as acro flips gives me motion sickness and ruins the hobby for me so I just race around in angle doing fast smooth lines. I notice angle mode the faster you get the less predictable it gets so the racers would really like these new settings .I also noticed angle mode is just that it needs to be at an angle to work properly too flat and its kinda crap so hopefully this helps with that aswell

I might be wrong but Emuflight has both Feedforward and DAS (dual a is steering) for a while now. Are these the same things you mention in this video?

Chris, this is awesome!! Now, how will this feed into Horizon mode? Will the angle part of it fully benefit from the improvements?

So if i have 4.4 i have this already? Before a watch the video. Acro snapping because the roll and pitch rate u enter. Make it 100 and it's slow to roll. I usually up my angle mode to 80 strength and max angle 80 or max angle quad can do before falling out the sky at full throttle. After watching. So this adds feedforward and more p to get rid of delay

As of late I have been trying to tune those exact things out of my TinyHawk2! Hope this works!

I'm trying to bind my elrs spi rx to a module on 3.2 but I can't with this version of 4.4 but I can bind with the official version of 4.4, does this version have the same elrs 3. ?

You are a genius!😃 Great work! We need you for more Tinywhoop stuff Chris! Motor testing and others.. I would pay for it. Eg in the form of a gofundme project where we could support you so that you can do more tiny whoop stuff😃would you do it?

I can't see this new parameters in the final 4.4. Do you have any information about when it's going to be part of the final version?

Does the Aos5 v2 fit the o3 camera? Wanna buy one if it does!

Looks promising, but I'm going to wait until 4.4 comes out as a proper release. All the issues Chris mentioned I seem to have well in hand, as my rigs already behave with alacrity and precision. I can wait, but I am keen to see what's next in 4.4. . .

It will be interesting to see how beta flights whoop Code stands against emuflight. With Dual Axis Steering they have other nice things done to the angel mode

after i installed this to my 2.5 4s its kinda acting like desyncing mot not shuts down. but one of the motors trying to spin faster with no reason. this can be the cause?

I just thought this was part of angle mode lol I always was of the belief that acro or air mode is just in itself more precise my it’s nature. This is way more scientific ha good stuff!!!

Thanks to you Chris, this feature is already incorporated in Betaflight 4.5. However, I have a query. When I tested the angle mode in Betaflight 4.5, it performed amazingly well, especially with the ease of turns with only yaw inputs given. How can I achieve the same "integrated roll" behavior in the acro mode? I couldn't find any setting options for this. When I attempted a brief flight in acro trainer mode and tried a turn using only yaw inputs, the craft seemed to lose its orientation. It converted the forward pitch into roll, which is indeed the core issue you described in the beginning of this video.

hi buddy. used to watch you years ago with pid tuning. got back into fpv now and want to do indoor flying. would you say angle mode is more suited that acro for indoors? i just find acro more natural and angle very odd feeling when trying to do tight turns indoors

Do you think it could mess up GPS Rescue if it's set to initiate

The question I have is, can we put that yaw code on acro mode. It would be awesome to have lazy inverted yaw spins.

What causes whoops to turn right or left on a hard turn? I have a brushed and brushless quad that does it. Always figured it was due to the frame bending but not 100% sure

Which hex file for happy Model mubular seven? I want to try it

Any way to control the copter with angle commands via MSP from companion comouter?

But when will it make official release 4.5 or later? (To late for 4.4 I guess)

Analytics!

Isn't what betaflight put in pretty much identical to the Emuflight angle code that's been around for over a year? A lot of things sound the same to me. In my opinion, angle mode is a very useful mode and is now very underestimated by new pilots. I know one reason is that people would rather commit to one flight mode for all quads. I can understand that, but especially with a micro whoop which flies significantly different to larger copters, I think you can also fly with different flight modes. Especially in whoop racing, angle racing makes progress very quickly. Of course, the skill cap of acro is higher, however it requires a lot of time and practice on the small whoops on tide tracks. Racing at a high level in angle is still hard enough and not easy. So try it! I also use angle on my cinewhoops in many situations.