Betaflight Gyro and D-term filters: CLI settings

Gyro lowpass, notch, dynamic notch and RPM filter settings, plus the D-term lowpass filters and the slider multipliers that scale them. These decide how much motor noise reaches the PID loop and how much delay the filtering adds.

27 settings in Betaflight 2026.6. Each range and value list is read from the firmware's settings.c, each default from the CLI get of the release built for the simulator (no board config applied), so a board's own config can still change it. Set one with set name = value, then save. Paste a diff all into the CLI checker to test it against any release.

Setting	Type	Range or values	Default	4.4	4.5	2025.12	2026.6
`dterm_lpf1_dyn_expo` #	uint8 PID profile	0 to 10	`5` needs USE_DYN_LPF	✓	✓	✓	✓
`dterm_lpf1_dyn_max_hz` #	uint16 PID profile	0 to 1000	`150` needs USE_DYN_LPF	✓	✓	✓	✓
`dterm_lpf1_dyn_min_hz` #	uint16 PID profile	0 to 1000	`75` needs USE_DYN_LPF	✓	✓	✓	✓
`dterm_lpf1_static_hz` #	int16 PID profile	0 to 1000	`75`	✓	✓	✓	✓
`dterm_lpf1_type` #	uint8 PID profile	PT1, BIQUAD, PT2, PT3	`PT1`	✓	✓	✓	✓
`dterm_lpf2_static_hz` #	int16 PID profile	0 to 1000	`150`	✓	✓	✓	✓
`dterm_lpf2_type` #	uint8 PID profile	PT1, BIQUAD, PT2, PT3	`PT1`	✓	✓	✓	✓
`dterm_notch_cutoff` #	uint16 PID profile	0 to 1000	`0`	✓	✓	✓	✓
`dterm_notch_hz` #	uint16 PID profile	0 to 1000	`0`	✓	✓	✓	✓
`gyro_filter_debug_axis` #	uint8 global	ROLL, PITCH, YAW	`ROLL`	✓	✓	✓	✓
`gyro_hardware_lpf` #	uint8 global	NORMAL, OPTION_1, OPTION_2, EXPERIMENTAL	`NORMAL`	✓	✓	✓	✓
`gyro_lpf1_dyn_expo` #	uint8 global	0 to 10	`5` needs USE_DYN_LPF	✓	✓	✓	✓
`gyro_lpf1_dyn_max_hz` #	uint16 global	0 to 1000	`500` needs USE_DYN_LPF	✓	✓	✓	✓
`gyro_lpf1_dyn_min_hz` #	uint16 global	0 to 1000	`250` needs USE_DYN_LPF	✓	✓	✓	✓
`gyro_lpf1_static_hz` #	uint16 global	0 to 1000	`250`	✓	✓	✓	✓
`gyro_lpf1_type` #	uint8 global	PT1, BIQUAD, PT2, PT3	`PT1`	✓	✓	✓	✓
`gyro_lpf2_static_hz` #	uint16 global	0 to 1000	`500`	✓	✓	✓	✓
`gyro_lpf2_type` #	uint8 global	PT1, BIQUAD, PT2, PT3	`PT1`	✓	✓	✓	✓
`gyro_notch1_cutoff` #	uint16 global	0 to 1000	`0`	✓	✓	✓	✓
`gyro_notch1_hz` #	uint16 global	0 to 1000	`0`	✓	✓	✓	✓
`gyro_notch2_cutoff` #	uint16 global	0 to 1000	`0`	✓	✓	✓	✓
`gyro_notch2_hz` #	uint16 global	0 to 1000	`0`	✓	✓	✓	✓
`simplified_dterm_filter` #	uint8 PID profile	OFF, ON	`ON` needs USE_SIMPLIFIED_TUNING	✓	✓	✓	✓
`simplified_dterm_filter_multiplier` #	uint8 PID profile	10 to 200	`100` needs USE_SIMPLIFIED_TUNING	✓	✓	✓	✓
`simplified_gyro_filter` #	uint8 global	OFF, ON	`ON` needs USE_SIMPLIFIED_TUNING	✓	✓	✓	✓
`simplified_gyro_filter_multiplier` #	uint8 global	10 to 200	`100` needs USE_SIMPLIFIED_TUNING	✓	✓	✓	✓
`yaw_lowpass_hz` #	uint16 PID profile	0 to 500	`100`	✓	✓	✓	✓

✓ present, Δ changed in that release (hover for what changed), — not in that release. “needs USE_…” is the build option the setting is compiled with: a cloud build without it has no such setting.

Also in this section

These settings exist in 2026.6, but their default depends on build options the simulator build does not compile (DShot, RPM filter, board drivers), so it is not printed here rather than guessed: dyn_notch_count, dyn_notch_max_hz, dyn_notch_min_hz, dyn_notch_q, rpm_filter_fade_range_hz, rpm_filter_harmonics, rpm_filter_lpf_hz, rpm_filter_min_hz, rpm_filter_q, rpm_filter_weights.

Other sections

PID tuning (73)
Angle, horizon and launch modes (20)
Rates and throttle curve (25)
Motors and ESC (23)
Receiver and RC link (32)
Failsafe and arming (14)
GPS (14)
GPS rescue (12)
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Battery and current sensor (28)
OSD (49)
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VTX and camera control (12)
Blackbox and debug (20)
Telemetry and serial (44)
LED strip and beeper (12)
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System and hardware (25)

What changed between releases: 4.4 → 4.5 · 4.5 → 2025.12 · 2025.12 → 2026.6. Machine-readable: params.json (2026.6.2), GPL-3.0 like the firmware it comes from.