Betaflight Angle, horizon and launch modes: CLI settings

The self-levelling modes (angle, horizon), acro trainer, launch control and easy landing. They sit in the PID profile beside the gains but only act while their mode is switched on.

20 settings in Betaflight 2026.6, plus 3 that earlier releases had. 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	Notes
`angle_earth_ref` #	uint8 PID profile	0 to 100	`100`	—	✓	✓	✓
`angle_feedforward` #	uint8 PID profile	0 to 200	`50`	—	✓	✓	✓
`angle_feedforward_smoothing_ms` #	uint8 PID profile	10 to 250	`80`	—	✓	✓	✓
`angle_limit` #	uint8 PID profile	10 to 80	`60`	—	✓	Δ	✓	2025.12: max 85 → 80
`angle_p_gain` # was angle_level_strength	uint8 PID profile	0 to 200	`50`	✓	Δ	✓	✓	Renamed from angle_level_strength in 4.5. Same setting (the level P gain, pid[PID_LEVEL].P), same range 0-200. source
`ez_landing_limit` #	uint8 PID profile	0 to 75	`15`	—	✓	✓	✓
`ez_landing_speed` #	uint8 PID profile	0 to 250	`50`	—	✓	✓	✓
`ez_landing_threshold` #	uint8 PID profile	0 to 200	`25`	—	✓	✓	✓
`horizon_delay_ms` #	uint16 PID profile	10 to 5000	`500`	—	✓	✓	✓
`horizon_ignore_sticks` # was horizon_tilt_expert_mode	uint8 PID profile	OFF, ON	`OFF`	✓	Δ	✓	✓	Renamed from horizon_tilt_expert_mode in 4.5. The PR: horizon 'expert mode' re-named to horizon_ignore_sticks. source
`horizon_level_strength` #	uint8 PID profile	0 to 100	`75`	✓	Δ	✓	✓	4.5: max 200 → 100; default 50 → 75
`horizon_limit_degrees` #	uint8 PID profile	10 to 250	`135`	—	✓	✓	✓
`horizon_limit_sticks` #	uint8 PID profile	10 to 200	`75`	—	✓	✓	✓
`horizon_tilt_effect` #	uint8 PID profile	0 to 250	`75`	✓	—	—	—	Removed in 4.5.
`horizon_transition` #	uint8 PID profile	0 to 200	`set by the target`	✓	—	—	—	Removed in 4.5.
`landing_disarm_threshold` #	uint8 PID profile	0 to 250	`0`	—	—	✓	✓
`launch_angle_limit` #	uint8 PID profile	0 to 80	`0` needs USE_LAUNCH_CONTROL	✓	✓	✓	✓
`launch_control_gain` #	uint8 PID profile	0 to 200	`40` needs USE_LAUNCH_CONTROL	✓	✓	✓	✓
`launch_control_mode` #	uint8 PID profile	NORMAL, PITCHONLY, FULL	`PITCHONLY` needs USE_LAUNCH_CONTROL	✓	✓	Δ	✓	2025.12: default NORMAL → PITCHONLY
`launch_trigger_allow_reset` #	uint8 PID profile	OFF, ON	`ON` needs USE_LAUNCH_CONTROL	✓	✓	✓	✓
`launch_trigger_throttle_percent` #	uint8 PID profile	0 to 90	`20` needs USE_LAUNCH_CONTROL	✓	✓	✓	✓
`level_limit` #	uint8 PID profile	10 to 90	`55`	✓	—	—	—	Removed in 4.5.
`level_race_mode` #	uint8 PID profile	OFF, ON	`OFF`	✓	✓	✓	✓

✓ 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: acro_trainer_angle_limit, acro_trainer_debug_axis, acro_trainer_gain, acro_trainer_lookahead_ms, angle_pitch_offset.

Other sections

Gyro and D-term filters (27)
PID tuning (73)
Rates and throttle curve (25)
Motors and ESC (23)
Receiver and RC link (32)
Failsafe and arming (14)
GPS (14)
GPS rescue (12)
Autopilot, position and altitude hold (66)
Battery and current sensor (28)
OSD (49)
OSD element positions (90)
VTX and camera control (12)
Blackbox and debug (20)
Telemetry and serial (44)
LED strip and beeper (12)
Sensors and board alignment (35)
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.