How to Fix Drifting in Angle / Horizon Mode | Betaflight

by Oscar

Here is a quick guide that might fix drifting issue in Angle mode and Horizon mode in Betaflight.

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Scenario: your quad might appear to be stable at first when hovering, but gradually it starts to drift more and more over time and requires constant stick adjustment. Eventually towards the end of the flight it’s drifting so much even full stick deflection is not enough to keep it level.

If you only have drifting in Angle mode and Horizon mode, but not Acro mode, that’s an indication that the problem is caused by the accelerometer (ACC), because Acro mode only uses the Gyro while Angle and Horizon mode uses both Gyro and ACC.

Here is the fix, go to Betaflight CLI, and look for these parameters:

set acc_lpf_hz = 20 set accxy_deadband = 40 set accz_deadband = 40

And change them to:

set acc_lpf_hz = 1 set accxy_deadband = 80 set accz_deadband = 80 save

Drifting in Angle and Horizon mode can be caused by vibration in the quad. The vibration can be very small and overlooked by the pilot, but the sensor can still sense it. It causes the neutral position to slowly drift.

Basically, “acc_lpf_hz” is the low pass filter for ACC data, reducing the value means reducing ACC sensitivity, so it will ignore most of the noise/vibration. It will make your quad less responsive, but it won’t get affected by vibration as bad.

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AnthonyFPVNJ 29th September 2023 - 6:38 pm

Oscar, thank you for this entire site. Such great work, writing, analysis, and detail. It is greatly appreciated. I’ve got a new Defender 25 with the latest betaflight. Changing the acc_lpf_hz definitely helped the wandering accelerometers during flight in angle mode. However, the settings accxy_deadband & accz_deadband are now unavailable. Is there something new/different than can be adjusted in the current version of betaflight?

What I found so far were settings for deadband regarding the term “3d” and the only one of those which is close to the number 80 is the throttle deadband, which I do not want to touch because I’m unsure if it would help/hurt. Thanks for your time.

Johnny 10th April 2023 - 7:11 pm

Is it possible to use the Pitch and Roll Trim in the Configuration tab to correct the drift? If so which direction are the positive numbers and negative numbers for each axis?

Smail 25th August 2020 - 3:43 pm

Thanks, but it’s not available on 4.22
Only the first command.

What is the alternative?

Krotow 29th December 2021 - 10:44 am

accxy_deadband and accz_deadband commands are removed from Betaflight. Although they are not needed anymore. acc_lpf_hz = 1 in betaflight 4.3 preview alone works like charm.

Michael 2nd February 2020 - 7:00 pm

I’m having the same trouble with my new Armattan Tadpole build. I set the acc_lpf_hz as shown but the quad still drifts heavily to the right. Eventually becoming too much to correct and i have to disarm.

It’s also been mentioned that the deadband settings are no longer there.

Is there any more information about this issue in Betaflight 4.1+

Maciej 31st January 2020 - 12:59 pm

Is there already a way to achieve the same on Betaflight 4+ ?

Harry 10th January 2020 - 7:31 am

Hi Oscar i am new to flying and i wanted to know how to calibrate the quad so it flies level?

Fred Cass / VRMan3D 28th December 2019 - 2:06 am

My new Matek F722se FC has this problem. I usually take off for the first flight in autolevel mode and with this new board when you arm, it wants to lean a random direction. If I replug the battery with it on a level surface that seems to fix it again.
I was able to change the lpf hz setting here, but they may have removed the deadband settings in betaflight 4.1.

I really like having autolevel on a switch for the rare occasion I fly behind something and lose video, I flick level and blast vertical and it can save a quad.

On the bench it seems just changing the filter is already improving it. (I would go back to the first tab before and it would be sideways, now it’s staying level so it’s probably fixed. Thanks Oscar.

Mohammed Alhanooti 17th November 2019 - 6:26 pm


I have this issue,Im using betaflight 4.1,which accxy_deadband and accz_deadband are not exist.

Parris 6th October 2019 - 9:20 pm

Thank you , OscarLiang ,
I just happened to come across this article online and thought I would give it a try on a few Miniquad F3 boards I had shelved two or three ago that had this stated problem . The fix seems to be working . I’m going to mess around with the values a little bit to see which values works best with the airframe set-ups I have on each , but , so far this tip working .

Thanks ,