How to Setup Position Hold and Altitude Hold in Betaflight

One of the coolest new features in Betaflight Version 2025.12 would probably be GPS Position Hold and Altitude Hold. Flip a switch and your FPV drone can hover in place hands-off—extremely useful for emergency situations, as well as for cinematic and long-range flying.

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Imagine someone approaches you while you’re flying: you can now stop instantly to talk to them. Or if you feel tired mid-flight, you can take your goggles off and grab a sip of water before continuing. It’s an amazing feature, but it requires proper setup and should be used with caution. In this tutorial, I’ll show you how to set it up and share what I’ve learned from testing it.

Before setting up Position Hold, I strongly recommend setting up GPS Rescue Mode as well. I have a dedicated tutorial here: https://oscarliang.com/setup-gps-rescue-mode-betaflight/

Demo Footage

Check out some footage how well position hold works in Betaflight:

Official Documentation

I’ll try to keep this guide concise, but you should also check out the official documentation written by the Betaflight developers: https://www.betaflight.com/docs/wiki/guides/current/Position-Hold-2025-12

Hardware Required

For Altitude Hold and Position Hold to work, all you need is a GPS module (barometer and magnetometer are optional).

Many flight controllers these days also include a barometer. If yours doesn’t, that’s not end of the world—Position Hold will still work, because GPS also provides altitude data. However, a barometer is usually more accurate and respond more quickly than GPS modules for altitude estimation by measuring air pressure, resulting in more precise altitude control and more reliable landings.

And remember, if you are applying conformal coating for water resistance, avoid coating the barometer, as this can cause incorrect altitude readings.

GPS Recommendations

See my GPS testing here: https://oscarliang.com/gps-review/

Top Performer: GEPRC M1025Q (With Compass)

• AliExpress: https://s.click.aliexpress.com/e/_DCihHmP
• GetFPV: https://oscarliang.com/product-zixk

Top Performer: HGLRC M100 5883 (With Compass)

• AliExpress: https://s.click.aliexpress.com/e/_DlLhgFd
• GetFPV: https://oscarliang.com/product-bf3p
• RDQ: https://oscarliang.com/product-0yby

Smallest Worth Having: GOKU GM10 Nano V3 (With Compass)

• AliExpress: https://s.click.aliexpress.com/e/_DEqdlNV
• Flywoo: https://oscarliang.com/product-lfo7
• GetFPV: https://oscarliang.com/product-tort
• RDQ: https://oscarliang.com/product-plki

Smallest Worth Having: FlyFishRC M10 Mini

• AliExpress: https://s.click.aliexpress.com/e/_DkCU7qr

Smallest Worth Having: HGLRC M100 Mini

• GetFPV: https://oscarliang.com/product-knfl
• RDQ: https://oscarliang.com/product-6zvg
• AliExpress: https://s.click.aliexpress.com/e/_DCXKBFj

Do You Really Need a Magnetometer?

Some GPS modules come with a magnetometer (also known as a compass). While it can improve position hold accuracy, it’s not mandatory.

I tested Position Hold both with and without a compass, and the difference in performance wasn’t as dramatic as I initially expected.

The main advantage of having a compass is that you can activate Position Hold immediately after takeoff, and it generally holds heading more accurately throughout the whole flight.

Without a compass, you cannot activate Position Hold right away—you need to fly in a straight line for a few seconds first, otherwise you’ll get a “Position Hold Fail” error. This is because Betaflight needs forward motion to estimate the heading direction. It also uses the gyro to track heading. Since gyros can drift over time, heading accuracy can slowly degrade, causing the drone to drift.

That said, in my testing, the quad held position and heading surprisingly well for almost 8 minutes even without a compass. Realistically, that’s more than enough for most people, as it’s longer than a typical battery will last anyway.

Setting up and calibrating a compass is not easy, to say the least. If it’s done incorrectly, it can actually make Position Hold less reliable. There’s also additional maintenance involved—you ideally need to recalibrate the compass when flying in a different location to get the most accurate readings.

So yes, it’s a fair amount of work. If you can get away without a compass, I probably wouldn’t bother. However, if you plan to use Position Hold regularly and want the best possible performance, then a compass can definitely be beneficial.

Here is a step-by-step tutorial on how to setup and calibrate a magnetometer: https://oscarliang.com/setup-calibrate-compass-betaflight/

Where to Mount GPS

You should place the GPS as far away as possible from the following sources of interference:

• VTX antennas
• ESC, motors, and motor wires
• Power cables (e.g. XT60)
• Action cameras (such as a GoPro)

Good locations for mounting a GPS module include:

• Above the FPV camera
• At the rear of the drone (as long as it’s not too close to the VTX antennas)
• On the battery strap

How to Connect GPS to FC

Connecting a GPS module to an FC is fairly straightforward. Simply connect it to an available UART on the FC (TX to RX, RX to TX), and power it with 5V. If you have a compass, you also need to connect the i2c port (SDA and SCL wires):

• GPS RX → FC TX
• GPS TX → FC RX
• GPS 5V → FC 5V
• GPS GND → FC GND
• GPS SDA → FC SDA (if the GPS has a compass)
• GPS SCL → FC SCL (if the GPS has a compass)

Reminder: Avoid using SoftSerial for GPS connections. SoftSerial is limited to a 19200 baud rate, which is too slow and can compromise GPS reliability—especially for features like Rescue Mode and Position Hold. Always use a hardware UART for the most stable and reliable performance.

Update Betaflight

Flash Betaflight to version 2025.12 or newer.

Important: To flash and configure the latest firmware, you must use the Betaflight web app, not the standalone desktop application:
https://app.betaflight.com/

When selecting build options, make sure the following features are enabled:

• Altitude Hold
• Position Hold
• GPS
• Magnetometer (if you are using a compass)

Not sure how to flash Betaflight? Check out this guide: https://oscarliang.com/flash-update-betaflight/

Betaflight Setup

Ports Tab

Enable GPS on the UART to which the GPS module is connected.

Configuration Tab

Enable the following options:

• Accelerometer (MUST be enabled)
• Barometer (if your have one)
• Magnetometer (if you have one)

If you are not using a magnetometer, enter the following command in the CLI:

set pos_hold_without_mag = ON
save

GPS Tab

These are my settings for GPS module.

Modes Tab

It’s recommended to use Altitude Hold and Position Hold together, so I assign them to the same switch.

• Altitude Hold: ALTHOLD
• Position Hold: POS HOLD

I use a 3-position switch:

• Position 1: Both modes OFF
• Position 2: Altitude Hold ON
• Position 3: Altitude Hold + Position Hold ON

This setup allows you to test or use Altitude Hold independently if needed.

OSD Tab

Enable “Fly Mode” so you can clearly see which mode is active.

The “Home Direction” arrow is also very useful for validating heading—especially if you’re flying without a compass.

Hover Throttle

Finally, go to the CLI tab, and set the hover throttle value (this is the same value used for GPS Rescue mode btw):

set ap_hover_throttle = 1275
save

Replace 1275 with your own hover throttle value based on testing. You might need to fine tune it a few times, not be exactly the same as the value you see in OSD.

Accelerometer Calibration

Just like Rescue Mode, both Position Hold and Altitude Hold rely on Angle Mode, which uses the accelerometer. Therefore, you should calibrate the accelerometer before using these modes to minimize drifting.

Place your quad on a level surface, then go to the Setup tab and click Calibrate Accelerometer.

To test Angle Mode, try hovering the drone and see if it self-levels as expected. Keep in mind that Angle Mode uses only the accelerometer and gyro, so it won’t hold position perfectly like a DJI drone. That’s exactly why we’re setting up Position Hold.

A small amount of drift caused by sensor error, weight distribution, or wind is normal. You can minimize this by trimming the accelerometer using stick commands after landing, trim in the opposite direction of the drift, for instance:

• If the drone drifts left, use Trim ACC Right
• If it drifts backward, use Trim ACC Forward

It’s unlikely you’ll eliminate drift completely. The goal is to minimize it—as long as the drift isn’t excessive, it should be fine.

Magnetometer Calibration

You can skip this section if you are not using a magnetometer.

If you are using one, here’s the tutorial: https://oscarliang.com/setup-calibrate-compass-betaflight/

How to Use Altitude Hold

Now we’re ready to try these flight modes.

Altitude Hold can be activated independently of Position Hold.

Once activated, Altitude Hold behaves similarly to Angle Mode (self-leveling), but with automatic throttle control. When your throttle stick is centered, the drone will attempt to maintain a fixed altitude. You can also lower the throttle stick all the way to 0%, it does the same thing.

If you raise or lower the throttle from center, the drone will climb or descend.

However, just like Angle Mode, the drone will still drift, and you’ll need to correct that drift using the pitch and roll sticks. This is normal and expected.

Important: Getting the hover throttle value right is important. If the value is too low, the quad will immediately drop when Altitude Hold is activated. If the value is too high, the quad will immediately climb. You can adjust the hover throttle in the OSD menu under GPS Rescue, or via the CLI using the ap_hover_throttle setting.

Finally, don’t expect DJI-level altitude stability. Altitude Hold in Betaflight uses only the barometer to estimate altitude, so going up and down slightly is normal.

How to Use Position Hold

To use Position Hold, it’s recommended to activate Altitude Hold at the same time, ideally using the same switch.

Before testing Position Hold, you should first test Altitude Hold on its own. Make sure there’s no sudden drop or climb in altitude when you engage it. If the quad immediately climbs or sinks, adjust the hover throttle first.

Once Altitude Hold is working smoothly, you can move on to testing Position Hold.

When Position Hold is active, the OSD flight mode will display POSH.

Using Position Hold With a Compass

If you are using a magnetometer (compass), you can activate Position Hold at any time during flight, as long as you have a good GPS lock (at least 8 satellites) before takeoff.

When engaged, the quad should hold its position automatically. A small amount of drift—typically within 1m—is normal according to the Betaflight developers.

You can still move the quad using pitch, roll, and yaw, similar to Angle Mode, but stick responsiveness is significantly reduced compared to normal Angle Mode.

Using Position Hold Without a Compass

If you are not using a compass, Position Hold is not immediately available after takeoff.

If you try to activate it too early, you’ll see a “POSHOLD FAIL” warning in the OSD. You must first fly in a straight line for a few seconds (or roughly 100 meters) so Betaflight can estimate the heading from GPS data.

To verify you are ready, check the home arrow in the OSD—if it points in the correct direction, Position Hold should work.

In my testing, Position Hold worked surprisingly well without a compass. The quad held both position and heading for over 7 minutes, until the battery ran out (probably could have gone on for longer). However, if drifting starts to occur, you may need to disengage Position Hold, fly straight again briefly to refresh the heading estimate, and then re-engage it. This is the main downside of not having a compass.

Is This the Same as DJI’s Panic Button?

Not quite.

On the DJI Avata 2, pressing the panic button immediately brakes and stops the drone almost instantly. Position Hold behaves similarly, but it’s not as aggressive, especially if you’re flying fast.

If you want stronger braking, you can increase the ap_max_angle value (default is 50°, maximum is 70°). Higher values result in more aggressive braking behavior.

Potential Issues and Troubleshooting

My Quad Won’t Arm

You cannot arm the quad while Position Hold or Altitude Hold is already engaged. Make sure both modes are disengaged before arming.

Altitude Wavering

According to the Betaflight documentation, altitude stability within about 1 meter is normal. It won’t be as stable as DJI drones, which use LiDAR and other camera sensors. Betaflight relies only on barometer.

Wind and high airspeed can also cause errors, as airflow over the barometer affects air pressure and readings. You can reduce this by covering the barometer with a small piece of open-cell foam, allowing pressure changes but limiting airflow.

“POSHOLD FAIL” Warning in OSD

This usually happens when:

• You don’t have a compass and haven’t flown straight long enough to establish heading, or
• There aren’t enough GPS satellites locked

Quad Flies Off at a Bad Angle or Circles

If the quad immediately flies off at an odd angle or starts circling, the heading information (from GPS or magnetometer) is likely incorrect.

If you’re not using a magnetometer, disengage Position Hold and fly straight for 50–100 meters at a steady speed with minimal roll or yaw input, then try again.

Compass Not As Accurate on Smaller Quad

I tested magnetometer on both 5inch and 3inch cinewhoop, the cinewhoop was overall less accurate than the 5inch. I think it might have something to do with the smaller frame size and how close the GPS is to all the sources of interference like motors, wires etc.

Conclusion: Position Hold Is Useful, but Not Foolproof (Yet)

In my experience, when Position Hold works, it works really well. However, there were times it was doing weird stuff like pulsating, wandering, or was just wobbly—and on a couple of occasions, it just didn’t work.

This is a powerful and genuinely useful feature, but it’s not foolproof yet. You should test it thoroughly before relying on it in real-world situations.

Personally, I’ll mainly use it for emergency scenarios—when you need to take your goggles off or put the radio down briefly. That alone can be a lifesaver. However, I would not trust it to hover over people without actively controlling the quad. Use common sense.