Tiny Whoop 65 mm

# Betaflight 2026.6.2, BETAFPV Matrix 1S 5IN1 (target BETAFPVG473): ELRS on UART3, VTX on UART2
mixer QUADX
set align_board_yaw = 0             # AIO arrow toward the camera; 180 if it points back
set motor_pwm_protocol = DSHOT300
set dshot_bidir = ON                # rpm telemetry for the RPM filter
set motor_poles = 12                # 0702 whoop motors are 9N12P; the default 14 is wrong here
set motor_idle = 700                # 7 % idle, units of 0.01 % (default 550)
set yaw_motors_reversed = OFF       # props in (ON = props out)
serial UART3 64 115200 57600 0 115200     # 64 = serial RX (the target default)
set serialrx_provider = CRSF
serial UART2 2048 115200 57600 0 115200   # 2048 = SmartAudio VTX (the target default)
save

# One LiHV cell: full is 4.35 V, and 1S sags hard, so warn late
set current_meter = ADC             # the 5IN1 has a real current sensor
set ibata_scale = 750               # the target default; calibrate against your charger
set vbat_max_cell_voltage = 440     # must sit above 4.35 V (default 430)
set vbat_full_cell_voltage = 435    # LiHV full (default 410)
set vbat_warning_cell_voltage = 330 # default 350
set vbat_min_cell_voltage = 320     # default 330
set bat_capacity = 300              # mAh, for the mAh-left warning
set vbat_sag_compensation = 100     # % (0-150): same stick feel as the pack sags
save

# aux <slot> <mode id> <AUX n - 1> <from us> <to us> <logic> <linked>
aux 0 0 0 1700 2100 0 0      # ARM on AUX1 high
aux 1 1 1 1300 2100 0 0      # ANGLE on AUX2 mid + high (low = acro)
aux 2 35 2 1700 2100 0 0     # FLIP OVER AFTER CRASH (turtle) on AUX3 high
save

# Turtle mode: arm upside down with AUX3 high and the motors run backwards
set motor_pwm_protocol = DSHOT300   # turtle needs DShot: it reverses the ESCs by DShot command
aux 2 35 2 1700 2100 0 0
set crashflip_motor_percent = 0     # power to the motors that are not lifting (0-100)
set crashflip_rate = 0              # 0 = no attenuation; units of 10 deg/s (0-250)
set crashflip_auto_rearm = OFF      # OFF: disarm and re-arm after the flip (FLIP_SWITCH flag)
save

# RPM filter: notches that follow each motor, 1000-1700 Hz on a 1S whoop
set dshot_bidir = ON
set motor_poles = 12
set rpm_filter_harmonics = 3        # 0 turns it off
set rpm_filter_min_hz = 100
set rpm_filter_weights = 100,60,0   # the third harmonic carries little on a whoop
save

# Paste the factory vtxtable from the 5IN1 manual first (SmartAudio 2.0: 25 / 100 / 200 / 400 mW)
vtxtable powerlevels 4
vtxtable powervalues 0 1 2 3        # SmartAudio 2.0 takes level numbers (2.1 takes dBm)
vtxtable powerlabels 25 100 200 400
set vtx_band = 5
set vtx_channel = 1                 # R1, 5658 MHz
set vtx_power = 1                   # 25 mW: plenty indoors
set vtx_low_power_disarm = ON       # lowest power until armed
save

# Lost link: hold 1.5 s (stage 1), then stop the motors and fall (stage 2)
set failsafe_delay = 15             # tenths of a second
set failsafe_procedure = DROP       # right for a 25 g whoop: it falls a metre onto the carpet
save

# No barometer and no GPS on a whoop: Betaflight ALTHOLD (mode 3) cannot run here.
# iynk's "altitude hold" is a simulator aid. On the real whoop, learn in Angle:
aux 1 1 1 1300 2100 0 0      # ANGLE on AUX2 mid + high
set angle_limit = 45
save

# Angle mode: self-levelling, tilt capped
aux 1 1 1 1300 2100 0 0      # ANGLE on AUX2 mid + high
set angle_limit = 45         # max tilt, degrees (10-80, default 60): gentle for a room
set angle_p_gain = 50        # how hard it levels (0-200, default 50)
save

# Acro is what it flies with ANGLE off (AUX2 low): the Betaflight default rates, softer yaw
set rates_type = ACTUAL
set roll_rc_rate = 7         # centre: 70 deg/s
set roll_srate = 67          # full stick: 670 deg/s
set roll_expo = 0
set pitch_rc_rate = 7
set pitch_srate = 67
set pitch_expo = 0
set yaw_rc_rate = 7
set yaw_srate = 30           # yaw: 300 deg/s, easier between furniture
set yaw_expo = 0
feature AIRMODE              # full control at zero throttle: whoops dive through gaps
save

# Lap timer and the pack on the OSD for whoop racing
set osd_tim1 = 18            # source 2 (last armed) + precision 1 (hundredths) << 4
set osd_tim_1_pos = 2103     # 2048 (OSD profile 1) + column 23 + row 1 x 32
set osd_avg_cell_voltage_pos = 2433   # 2048 + column 1 + row 12 x 32
save

# The living room in Angle: link quality and warnings where you can see them
aux 1 1 1 1300 2100 0 0      # ANGLE on AUX2 mid + high
set osd_link_quality_pos = 2081       # 2048 + column 1 + row 1 x 32
set osd_warnings_pos = 2377           # 2048 + column 9 + row 10 x 32
set osd_mah_drawn_pos = 2455          # 2048 + column 23 + row 12 x 32
save