Happymodel Mobula6 2024 V3
BF 4.6.0 · G473 · SE0702 28000kv
Flight Controller
- MCU
- STM32G47X
- Board
- CRAZYBEE473
- Firmware
- BF 4.6.0
- Craft Name
- M6 2024 V3
- Motor Protocol
- DSHOT300
- Motor Poles
- 12
- Bidir DShot
- ON
PID Values (Profile 0)
| Axis | P | I | D |
|---|---|---|---|
| Roll | 76 | 135 | 39 |
| Pitch | 95 | 170 | 44 |
| Yaw | 76 | 135 | 0 |
Rates (Profile 0)
- Type
- ACTUAL
| Axis | RC Rate | Expo | Super Rate |
|---|---|---|---|
| Roll | 15 | 50 | 67 |
| Pitch | 15 | 50 | 60 |
| Yaw | 15 | 50 | 55 |
Filters
- Gyro LPF1
- 0 Hz
- Gyro LPF2
- 1000 Hz
- Dyn Notch Count
- 1
- Dyn Notch Min
- 150 Hz
- Dyn Notch Max
- 600 Hz
Visualize PID curves, rates, and filters in the interactive analyzer
Open in AnalyzerFull CLI Dump
# diff all
# version
# Betaflight / STM32G47X (SG47) 4.6.0 Mar 18 2025 / 21:36:19 (norevision) MSP API: 1.47
batch start
board_name CRAZYBEE473
manufacturer_id HAMO
# name: M6 2024 V3
# feature
feature LED_STRIP
feature OSD
feature AIRMODE
feature ANTI_GRAVITY
# serial
serial UART3 64 115200 57600 0 115200
serial UART4 2048 115200 57600 0 115200
# map
map AETR1234
# aux
aux 0 0 0 1700 2100 0 0
aux 1 1 1 1700 2100 0 0
aux 2 35 2 1700 2100 0 0
# vtxtable
vtxtable bands 6
vtxtable channels 8
vtxtable band 1 BAND_A A CUSTOM 5865 5845 5825 5805 5785 5765 5745 5725
vtxtable band 2 BAND_B B CUSTOM 5733 5752 5771 5790 5809 5828 5847 5866
vtxtable band 3 BAND_E E CUSTOM 5705 5685 5665 5645 5885 5905 5925 5945
vtxtable band 4 FATSHARK F CUSTOM 5740 5760 5780 5800 5820 5840 5860 5880
vtxtable band 5 RACE R CUSTOM 5658 5695 5732 5769 5806 5843 5880 5917
vtxtable band 6 RACE_LOW L CUSTOM 5333 5373 5413 5453 5493 5533 5573 5613
vtxtable powerlevels 5
vtxtable powervalues 1 10 14 20 25
vtxtable powerlabels 0 10 25 100 400
# master
set gyro_lpf1_static_hz = 0
set gyro_lpf2_static_hz = 1000
set dyn_notch_count = 1
set dyn_notch_q = 500
set dyn_notch_min_hz = 150
set dyn_notch_max_hz = 600
...
Show all 148 lines
# diff all
# version
# Betaflight / STM32G47X (SG47) 4.6.0 Mar 18 2025 / 21:36:19 (norevision) MSP API: 1.47
batch start
board_name CRAZYBEE473
manufacturer_id HAMO
# name: M6 2024 V3
# feature
feature LED_STRIP
feature OSD
feature AIRMODE
feature ANTI_GRAVITY
# serial
serial UART3 64 115200 57600 0 115200
serial UART4 2048 115200 57600 0 115200
# map
map AETR1234
# aux
aux 0 0 0 1700 2100 0 0
aux 1 1 1 1700 2100 0 0
aux 2 35 2 1700 2100 0 0
# vtxtable
vtxtable bands 6
vtxtable channels 8
vtxtable band 1 BAND_A A CUSTOM 5865 5845 5825 5805 5785 5765 5745 5725
vtxtable band 2 BAND_B B CUSTOM 5733 5752 5771 5790 5809 5828 5847 5866
vtxtable band 3 BAND_E E CUSTOM 5705 5685 5665 5645 5885 5905 5925 5945
vtxtable band 4 FATSHARK F CUSTOM 5740 5760 5780 5800 5820 5840 5860 5880
vtxtable band 5 RACE R CUSTOM 5658 5695 5732 5769 5806 5843 5880 5917
vtxtable band 6 RACE_LOW L CUSTOM 5333 5373 5413 5453 5493 5533 5573 5613
vtxtable powerlevels 5
vtxtable powervalues 1 10 14 20 25
vtxtable powerlabels 0 10 25 100 400
# master
set gyro_lpf1_static_hz = 0
set gyro_lpf2_static_hz = 1000
set dyn_notch_count = 1
set dyn_notch_q = 500
set dyn_notch_min_hz = 150
set dyn_notch_max_hz = 600
set serialrx_provider = CRSF
set serialrx_halfduplex = OFF
set dshot_bidir = ON
set motor_pwm_protocol = DSHOT300
set motor_poles = 12
set motor_kv = 1960
set vbat_scale = 110
set simplified_gyro_filter = OFF
set rpm_filter_harmonics = 1
set rpm_filter_q = 500
set rpm_filter_min_hz = 100
set rpm_filter_fade_range_hz = 50
set osd_vbat_pos = 2434
set osd_link_quality_pos = 2454
set osd_link_tx_power_pos = 2101
set osd_rssi_dbm_pos = 2424
set osd_tim_1_pos = 2082
set osd_tim_2_pos = 2114
set osd_flymode_pos = 2392
set osd_throttle_pos = 2370
set osd_vtx_channel_pos = 2131
set osd_current_pos = 2401
set osd_craft_name_pos = 2442
set osd_disarmed_pos = 2379
set vtx_band = 5
set vtx_channel = 8
set vtx_power = 5
set vtx_freq = 5917
profile 0
set profile_name = Acro
set dterm_lpf1_dyn_min_hz = 75
set dterm_lpf1_dyn_max_hz = 150
set dterm_lpf1_type = PT1
set dterm_lpf1_static_hz = 75
set dterm_lpf2_static_hz = 150
set vbat_sag_compensation = 100
set anti_gravity_gain = 80
set iterm_relax = RP
set iterm_relax_cutoff = 15
set p_pitch = 95
set i_pitch = 170
set d_pitch = 44
set f_pitch = 194
set p_roll = 76
set i_roll = 135
set d_roll = 39
set f_roll = 156
set p_yaw = 76
set i_yaw = 135
set d_yaw = 0
set f_yaw = 156
set d_min_roll = 39
set d_min_pitch = 44
set thrust_linear = 25
set feedforward_averaging = 2_POINT
set feedforward_smooth_factor = 65
set feedforward_jitter_factor = 5
set feedforward_boost = 15
set simplified_master_multiplier = 130
set simplified_i_gain = 100
set simplified_d_gain = 100
set simplified_pi_gain = 130
set simplified_feedforward_gain = 100
set simplified_pitch_d_gain = 100
set simplified_pitch_pi_gain = 120
set tpa_rate = 55
set tpa_breakpoint = 1350
profile 1
profile 2
profile 3
rateprofile 0
set rateprofile_name = Race
set rates_type = ACTUAL
set roll_rc_rate = 15
set pitch_rc_rate = 15
set yaw_rc_rate = 15
set roll_expo = 50
set pitch_expo = 50
set yaw_expo = 50
set roll_srate = 67
set pitch_srate = 60
set yaw_srate = 55
rateprofile 1
rateprofile 2
rateprofile 3
batch end
Frequently Asked Questions
What Betaflight version does the Happymodel Mobula6 2024 V3 use?
This CLI dump is configured for Betaflight 4.6.0 running on STM32G47X MCU with the CRAZYBEE473 board. Motor protocol is DSHOT300 with 12 poles.
What are the PID values for the Happymodel Mobula6 2024 V3?
Profile 0 PIDs — Roll: P76/I135/D39, Pitch: P95/I170/D44, Yaw: P76/I135/D0. Rate type is ACTUAL.
Can I use this tune on a different 65mm whoop?
This tune is optimized for the Happymodel Mobula6 2024 V3 (65mm). You can use it as a starting point for similar 65mm whoops but may need to adjust PID and filter values based on your specific motors, props, and frame. Use the analyzer to compare with your current tune.