If Angle and Horizon modes are missing in the modes tab, this is because the accelerometer is disabled within Betaflight. However it will get overridden by another flight mode, such as Horizon mode or Angle mode, when they are activated. That’s because Acro mode is automatically enabled as soon as you arm the quadcopter. You might notice that Acro mode isn’t available as an option in the modes tab. I have an article discussing why you should be learning Acro mode. I strongly recommend new pilots to learn it as early as possible. However, Acro mode is the “ultimate flight mode” for freestyle flying and drone racing. This is really, the only difference between Angle and Horizon modes. You can do flips and rolls in Horizon mode, but you can’t in Angle mode which also limits the tilt angle to 45 degrees (adjustable though). Self-level modes are easier to fly for beginners. With Angle mode and Horizon mode, the quadcopter will self-level using both the accelerometer (ACC) and Gyro. In this article I will help you troubleshoot why you can’t arm a quadcopter. If you have trouble arming, there can be many potential causes. inverted yaw spin?), also it’s faster to disarm with a switch. It’s recommended to use a switch for arming for various safety reason: when you are doing acrobatic moves, it’s possible to trigger disarm yaw stick (e.g. You can also assign a switch to the Arm mode in Betaflight in order to arm using that switch, this will disable arming with the Yaw stick. You can arm a quadcopter using the yaw stick (throttle down and yaw right). But if you have the “MOTOR STOP” option disabled, the motors will not spin when it’s armed until you raise the throttle. Once it’s armed, the motors will start to spin.

To take off, the quadcopter has to be armed first.

Not all the “modes” in the Modes tab in Betaflight Configurator are flight modes, some are actually features and event triggers. If you are new to Betaflight, check out my Betaflight beginner’s tutorial.

Wiz dynamic light modes