How to Fix Drifting in Angle / Horizon Mode | Betaflight

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

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

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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