Betaflight calibrate accelerometer stick command osd
Betaflight calibrate accelerometer stick command osd. Betaflight Stick Commands. PID values, Filter settings, Anti Gravity, Crash Recovery, and more. In the OSD tab, make sure to select “HD” in video format in order to use the whole 16:9 screen and appropriately sized font. This information has been collected from sources such as: The BetaFlight RC Groups Forum (credit will be given where possible). Choosing the correct board (aka firmware target) is crucial, you can use one of these methods: Auto-Detect: This button should automatically select the correct board for your FC. 1, we had to either use long wires between FC and ESC to retain the original mapping (which make the build messy) or use a custom mix to change how each motor contributes to attitude adjustment. comSUPPORT ME ON PATREON at: http://bit. e. The PIDs cannot reduce motor drive below 5. This is a safety feature so that the quad doesn’t suddenly spin up the motors and hurt you when it’s armed. (Available for all v3. There are various modes that can be toggled on or off. FPV. Debug2 in blackbox explorer will show instantaneous D on roll, and debug3 shows D on pitch (note the The manual is for Lite brushed FC V1 and the Beta65S Lite drone with this FC. The fix is to simply set Loop rate to 1kHz (1000usec looptime) then calibrate the ESCs and change If you're on a version older than 4. 5 Pre-arm Spec Race settings OSD build option This is a custom build option which adds a special "prearm" OSD screen for racers, particularly spec class racers, where both pilot and race organisers can verify the settings. Limitations: Screen update speed is slower than a typical installation. Profiles offer another way to perform PID or Filter tuning (currently only Dterm filters). fpvknowitall. Imagine we are in a flat drop, or have done a quick 180 degree reversal from high forward speed. 4. Basic requirements are to: Zero throttle is now the 50% stick position and the lowest stick position now produces maximum negative throttle, with maximum positive throttle at the highest stick position info Air mode does not work properly when using 3D mode, you should disable permanent Air Mode in the Configuration Tab and configure Air Mode on a switch in the Modes Tab Feb 11, 2018 · If i check the sensor reading in the Betaflight program, all seems to be normal. Follow the on-screen instructions to rotate the quad through different orientations until complete. pivoted around multiple axes, NOT lining up with the main axes of the frame anymore. vcd_h_offset Adjust the horizontal position of the left edge. 8. SmartAudio is a single-wire solution for VTx control, originally developed by TBS on their Unify range of Analog Vtx devices. Mar 4, 2024 · Betaflight F4 is crucial for fine-tuning your FPV drone’s flight characteristics. package-config set msp-osd rec_enabled true. This was news to me, but hey, when in Rome so I fly my Betaflight Newbeedrone Acrobee in Angle mode. Set the voltage and current sensor sources and calibration so that the FC can read the values and warn you accordingly. Setpoint transition has been disabled (1. 3. 3RC3. 1 Jul 13 2022 / 03:25:44 (8d4f00532) MSP API: 1. First, verify that the Accelerometer is enabled in the Configuration tab. You must ensure that your throttle is lower than min_check when it’s in the lowest stick position. If you want to fly angle mode, you need to know how to calibrate and trim the accelerometer! See full list on betaflight. Profiles (aka PID Profiles) A Profile is a set of performance-related configuration settings. 3. ) To reproduce, Power on under default config under model "Gimbal". Telemetry can be either always on, or enabled when armed. In most cases, offset is usually zero, and you only need to change scale. Mar 25, 2021 · Once operation is completed, Betaflight firmware is ready to be flashed on the board, so we can click on “Flash Firmware”. OSD layouts are configured in the Betaflight Configurator OSD tab. 0 of the Betaflight TX lua scripts has been released. 2. Use the OSD: Enter set debug_mode = D_MIN in the CLI, and set your OSD to show debug2 on-screen. 0 you can use this cli command set gps_set_home_point_once = ON in this way only the first arm after the battery is connected will be used as home point. Go to the CLI on fpv. 2/4. For most users all they need to do is simply configure the new mode to be active as desired on the "Modes" tab in the configurator and configure the This defaults to 5. In both these situations, airflow is pushing into the props from below the quad (negative inflow). You can use the rxfail command to change this behaviour. wtf/cli. None - No voltage measurements will be available Yes, you actually can! There are a couple of options for the Betaflight firmware which are mostly plug and play. New 2. 0 RC1 CLI commands. Betaflight OSD Jan 24, 2018 · Apparently, most Tiny Whoop pilots fly autolevel. Arming will only occur when the throttle stick is centered (+/- 3d_deadband_throttle) and the arming switch is active. Go into the Receiver This can be accomplished by one of two ways: A. Where MOTOR is the function, 1 is the motor As of Betaflight version 3. Make the Flight Controller recognize the Split. Bf firmware is correctly running but i can not open bf menu on osd. Zero throttle is now the 50% stick position and the lowest stick position now produces maximum negative throttle, with maximum positive throttle at the highest stick position info Air mode does not work properly when using 3D mode, you should disable permanent Air Mode in the Configuration Tab and configure Air Mode on a switch in the Modes Tab Betaflight 3. Because the remote has a hexagon arround the sticks, i can't reach the stick combo to recalibrate the gyro sensor. Since Betaflight 4. Before v3. 5 and later) Use CHANNEL_FORWARDING and set CLI variable channel_forwarding_start to your switch channel number. Modes can be enabled/disabled by stick positions, auxiliary receiver channels and other events such as failsafe detection. Access the OSD Menu by using the Enter OSD Menu Stick Command. The V1 version is black as show below. Today I’m demonstrating how to set the voltage Mar 7, 2018 · using betaflight 10. In this case the Warning LED on the board will flash a certain number of times, indicating what the condition is: Reason for disabled Arming. You need to calibrate and trim your accelerometer. SERVO1 enable/disable the first servo output Feb 26, 2024 · Betaflight doesn’t arm if your minimum throttle is too high (higher than the setting “Min_Check”). I want to activate stick commands in the field to calibrate my magnetometer before flight. (1) This may appear on the Betaflight OSD during flight, take it as a sign that your radio system is either faulty or you are flying at the edge of your range. In rare cases or due to space limitations, the flight controller needs to be positioned on the frame in awkward alignment, i. If the accelerometer is calibrated after this point, it is not saved, and power-on position is always taken as the default position. I still recommend that you slowly remove default filtering as well if your setup allows you for best results. If this mode is required, raise a request with MWOSD team. Jan 6, 2023 · Power on your goggles, and connect USB cable to your computer. If a serial port for telemetry is shared with other functionality then telemetry will only be enabled when Jan 12, 2022 · The OSD is very slow to update, taking 25 sec to clear the startup screen with block-like display or clearing. This ensures proper orientation for things like self-level modes. Note: Some ESCs will not calibrate at 2kHz and faster Loop Rates, KISS ESCs have been reported to have this issue. To do an in-field calibration: Make sure your quad is on a level surface; For a mode 2 radio, move the throttle stick to the top left (full throttle, full yaw) and the pitch stick all the way down, as per this diagram: Jan 6, 2023 · Power on your goggles, and connect USB cable to your computer. Sep 20, 2017 · The stock setup uses the two rotary knobs to change between modes, but its just about impossible to do this why flying as you cant let go of the sticks for long. For example set baro_hardware = DPS310 will force Betaflight to use the driver for the DPS310 (obviously that driver must be included in the firmware in 4. To cover all bases we should add a similar menu to the lua scripts, or add the calibration to the main menu. Just bind to your radio transmitter, select the model Oct 21, 2023 · # Betaflight / STM32F411 (S411) 4. Make a log: Enter set debug_mode = D_MIN in the CLI. User defined switch 1. 1) Use SERVO_TILT and assign AUX channel of your choice to servo 0 on the Servo tab. This only works if the "Filter" RC signal smoothing type is selected in the Receiver tab, and both "Input Cutoff Type" and "Derivative Cutoff Type" are set to "auto". ly/2Ep5SiaTHIS IS MY NOTE: this command is only available in version 3. It is possible to test performance of soft mounting systems is to push noise through them and see how much gets through. LED Flashes. The FC firmware NEEDS to know how the FC axes are Requires a 150-600 Ω resistor and a 1-10 µF capacitor, forming an RC-filter. Avatar 4. For example, the post-fight statistics take about 15 sec to display after disarm, with individual characters appearing slowly. Failsafe mode is active. Feb 9, 2023 · Here is how to set up SmartAudio: Connect the SA pad on the VTX to a TX pin of a spare UART on the FC. (08-Dec-2018, 09:44 AM)voodoo614 Wrote: Go to receiver tab. Some flight controller designed don't power the OSD chip properly (or at all) when connected only to USB. DAC (Does not work, not implemented yet!) Will require no additional components, wire your PIN to OSD, preferably with a GND connection as well. 4, you can now show ‘READY’ in the OSD using a switch. Turn on the RC TX and move the sticks all the way along both axes. Then in the Preset Tab, there are a few system-specific presets that you can use to make the setup easier: HDZero for 4. Note that nearly all barometer chips have the same i2c address. , if SmartPort is on UART 3, then 2 is the number you want) Open Betaflight Configurator, connect you copter, access CLI. Calibrate your ESCs via the Motors tab - Flex RC Then trim the ACC according to the commands in the above image. Ensure you have all necessary equipment and understand the role of Betaflight F4 before beginning setup. com Nov 7, 2022 · Betaflight uses a simple equation to allow users to adjust/calibrate the current sensor output: y = ax + b. Reactivate the feature after the pilot uses crash-flip to recover from a crash. Some boards include a current sensor in order to provide measures such as "Battery current draw", "Battery current mAh drawn" and others. Otherwise you should try using Betaflight on a desktop/mac and make sure you download the newest configurator version. Jan 24, 2018 · Apparently, most Tiny Whoop pilots fly autolevel. More often than not, the current sensor has to be thoroughly calibrated for the measures to be accurate. If this level is wrong, you can calibrate it in Betaflight by connecting your quad and heading to the Power & Battery tab and plugging in a battery. The latest BetaFlight 4. 1 and newer of Betaflight. A small amount of development is required to resolve issues with flickering display. Concerned Board. Pitch the yawed FC, reset Z axis, check, if ok proceed. 5% motor drive. Also, Betaflight includes a Virtual Current Sensor feature that can be used Active OSD profiles Selects the OSD profile which will be overlaid on the camera data. Basic Setup Calibrate Accelerometer The accelerometer is used to determine the orientation of the flight controller. 2: The OSD warning will start to blink when the throttle gets within 10% of the trigger percentage. The selected OSD Profile can either be controlled from a switch on your radio or you can configure different profiles and select the one you want by using the set osd_profile=2 command in the CLI and saving. Mass storage device support allows the micro SD card or the flash chip of your flight controller to be mounted as an external storage device on your PC. Betaflight 4. If you go into betaflight CLI and enter the command "version" it will tell you what target you need to choose when updating firmware. OpenTX Lua Scripts. 1. displayport_max7456_row_adjust Adjust number of rows on the screen. @TwoToneEddy: Looking at the code, it looks like the INFLIGHT_ACC_CAL feature makes accelerometer calibration available on a stick command: THR_LO + YAW_LO + PIT_HI + ROL_HI. BetaFlight has a command line interface (CLI) that can be used to: review, change and save settings and configure the FC, including those not accessible via the Configurator's GUI. Because currently, my compass is pointing the wrong way (and rescue mode therefore can't be used). Dont know what BetaFlight stick commands are? Watch this! Hey, thanks for the video ;-) I always was interested in the inflight acc calibration, but never found good information about in the web. 0) to give more linearity over the entire stick. Also the feature will only be active while in acro flight and will disable if ANGLE or HORIZON modes are selected. Whilst reflashing betaflight is always a good idea to solve errors, your accelerometer isn't used for those movements you see on screen, that's your gyro. When throttle stick is at zero, the motors always get 5. If you use Betaflight angle mode, but your quad doesn't hover level when you center the sticks, I'm going to show you how to fix it. Radios running OpenTX can use scripts written in Lua to control these parameters with the radio's scroll wheel and buttons. Mar 3, 2024 · Betaflight’s GPS Rescue mode relies on Angle mode — a self-leveling flight mode — to stabilize the drone. If you are using firmware 4. Enter the following command lines and hit enter (copy line by line, right click mouse to paste if keyboard shortcut doesn’t work), this will enable OSD recording. Enter and send command serialpassthrough 2 57600 (where '2' is the UART ID; remember, UART 3 is actually ID 2, UART 2 would be 1, and UART 1 would be 0 Mass Storage Device Support. The button is greyed out in settings. Additionally if the accelerometer is enabled the current pitch angle will be appended like LAUNCH 25. Version History Betaflight 4. Uncertain about what to buy? Check out THE ULTIMATE FPV SHOPPING LIST: https://www. A single wire from a UART Tx pin can be connected to a supported VTx, and then channels, power settings, etc, can be changed via Lua, Configurator etc. 16. Pins are remapped using the resources command line interface command. If the MAX7456 chip is used then this must match the camera signal. as before. Calibration is key – ESC, accelerometer, and gyroscope 1. This is the recommended performance indicator to use instead of RSSI, due to the overall signal strength of the Crossfire hardware. If the procedure ends correctly we can “Exit DFU Mode” and start navigating through Betaflight Configurator tabs. wtf: https://fpv. CALIB calibrates roll/pitch offsets for the accelerometer in-flight. 5). RX loss configuration The rxfail cli command is used to configure per-channel rx-loss behaviour. Enable Bi-Directional DShot. MAX/AB7456 based FC-integrated (SPI-connected) OSD specific. Currently, 3 Profiles are supported. ) Accelerometer configuration under model "gimbal" defaults to power-on positional information. Feb 27, 2020 · You want the quad to be level when you calibrate the accelerometer. Do you know how to do this with Betaflight or is it a nonfunctional piece of software which only was used in in the times Reboot the flight controller for settings changes to take effect. (search for stick commands in Betaflight) You fly, notice the drift, land and while disarmed, use stick commands to trim the accelerometer offsets. 0, the CLI settings below can be used to configure addressable video transmitters (such as TBS- SmartAudio and IRC- Tramp) that are connected to the flight controller. To do an in-field calibration: Make sure your quad is on a level surface; For a mode 2 radio, move the throttle stick to the top left (full throttle, full yaw) and the pitch stick all the way down, as per this diagram: Set up all your power and battery related settings. and do a lot more, including bad things that can burn out the version 1. Accessibility RC Stick Commands About this mode: MWOSD acts dumb and displays screen sent from FC. NTSC - Uses a 30 columns x 13 row grid of OSD elements. Video Format Auto - attempts to guess the appropriate output type. READY. Betaflight's Github lists all supported barometers and their driver code, which includes the i2c address we search on, etc. Intended to be used to control an arbitrary output with PINIO. Also make sure that the Launch Control warning option is enabled (osd_warn_launch_control = ON). Feb 12, 2017 · SmartAudio. Next, proceed to the Setup tab and calibrate the Accelerometer on a level surface. 5%. This is a niche improvement for racing situations where all pilot video feeds are on one central screen. Mar 25, 2020 · The voltage sensor is usually prominently displayed on the OSD while flying. On the right side, you’ll see the voltage of the connected battery. Provides protection for the next arming and takeoff in case of broken props or other problems that might cause a runaway. 2, you'll want to download the new configurator here. WTF + O3 + Avatar for 4. The motors will immediately spin at 3d_deadband_low or Profiles and Stick Overlay in OSD Betaflight 4. Nov 11, 2023 · In the Betaflight Configurator, navigate to the “Firmware Flasher” tab on the left. 3 and 4. It is permanently updated and improved. You can also check the current power measurements. 5 or higher. And in configuration, it doesnt matter if i select accelerometer, or deselect accelerometer, when it reboots, i still can not recalibrate the accelerometer. 📄️ Current Sensor Calibration To test your alignment process before you mount it to your frame use the FC only pointing towards your monitor and the the Setup page of the Betaflight Configurator and simply start with: Yaw the FC, hit Reset Z axis, check the visualisation of the quad, if ok proceed. Added gyro rate checking to activation detection to improve bench testing; Betaflight 3. "get DEBUG_MODE" - Shows the current debug mode and all available debug modes. This includes changes to go with Betaflight 4. check the version of the firmware. The aircraft has landed in failsafe mode. In the Ports tab in Betaflight, select SmartAudio for that UART. (Limited to v3. Calibrate accelerometer. Nov 30, 2019 · betaflight/betaflight#9179 addressed some of this by adding calibration to CMS. CLI Tab. Therefore, it’s essential to ensure Angle mode is functioning correctly. Make sure that the throttle stick is all the way down when arming Switch arming is a must for 3D flight and can be set up in the Mode tab of the configuration GUI, motor_stop and stick arming do NOT work in 3D mode for obvious reasons. If the video configuration is modified via the CMS OSD menu or via MSP (Taranis/OpenTX Go to Ports tab and note the UART SmartPort is on, and subtract 1 (e. Battery Voltage Meter Source Select the source for the voltage measurements. 5%, either. 0. 7. check the hardware status. check task timing and late runs. I was able to bind my transmitter. 1 onwards the number of Aux channels is selectable with the set max_aux_channels (see the CLI commands section). User defined switch 2. The Beta65S Lite drone is ready to fly and the Silverware firmware does not require a switch setting as Betaflight does. UART1 - ID 0 UART2 - ID 1 UART3 - ID 2. Trial and Error. it is difficult to know what the actual cutoff point will be. The default Profile is profile 1 ( profile 0 in CLI). The radio and RX need to be connected and powered up for the detected frame rate data to be valid. This measurement is based on a ratio of successful packets transmitted and received. TELEMETRY enable/disable the sending of FC telemetry to the control link receiver or other output port. For example, we connect the Split to the UART 3 interface on the BetaFlight: connect the flight controller to the computer, then open the Betaflight Configurator. If you are on the field and cant access your computer you can use a stick command to calibrate the accelerometer. There are a few different ways to calibrate current sensors. 2, it is essential that you upgrade to this version, in order to get support for configuring the new features of 4. B. Provides a visual indication that Usually, the gyro orientation on the FC is ink-marked by an arrow pointing forward. 1 Mar 7, 2018 · using betaflight 10. Apr 2, 2018 · mikeller commented on Apr 2, 2018. 08-Dec-2018, 04:44 PM. However I can't recalibrate the accelerometer. Min_Check is 1050 by default. The OSD will show: RPM limit settings, throttle limit, motor limit, current &voltage, and; Betaflight version. OSD enable/disable the OSD overlay feature. Telemetry allows you to know what is happening on your aircraft while you are flying it. Open the ‘Receiver’ tab and plug in your drone battery and c hange the “Channel Map” to “JR / Spektrum / Graupner”. I can calibrate the magnetometer in betaflight but can't spin the drone on it's 6 axis because it is connected by cable. Aug 18, 2023 · Hey guys in this episode we are showing how to calibrate accelerometer in betaflight The accelerometer must be enabled for the feature to be configured and function. This is different from the 'normal' acc calibration when unarmed ( THR_HI + YAW_LO + PIT_LO + ROL_CE ), as in it's also supposed to work Current Sensor Calibration. YouTube Channels that have provided relevant content. Mar 15, 2024 · calibrate accelerometer. You can trim the drift with stick commands. This is the value that will be applied when the quad initially loses signal. None - No voltage measurements will be available using any of the first 4 stick channels do not have a value in the range specified by rx_min_usec and rx_max_usec. element layout, font etc. #3. Save before leaving the tab. Jun 22, 2022 · I'm not sure how betaflight on a chromebook works, try and update your Betaflight Configurator to 10. The IO remapping allows you to configure the pins on the MCU to be utilised for various functions. then had to load the stock betafpv CLI. These notes only apply to Magnetometers in Betaflight 4. CLI is active in the configurator. vcd_v_offset Adjust the vertical position of the first row. If it shows 350, you have 35 of D at that instant. WTF MSP OSD 4. Today I’m demonstrating how to set the voltage Calibrate your accelerometer so the quad hovers level Set the Stage 1 Failsafe fallback throttle value (the value on the throttle channel) to a value that will make the quad climb steadily. Betaflight has the ability to display on your OSD a measurement of Crossfire LQ (Link Quality). Toggle the arm switch to arm. Step-by-step guidance on installing and updating Betaflight firmware to the latest version. OSD Configuration Configure your OSD via the OSD tab in the configurator, i. YOu can still have drift in angle mode even when you properly calibrate the accelerometer. . In the Peripherals column of the line UART3 (on the Mar 15, 2024 · calibrate accelerometer. Boris's answer: Basically people kept complaining that betaflight default D was too conservative and therefore changed. 0 to get your craft tuned. The OSD font is stored inside the OSD chip so it must be powered and communicating with the rest of the flight controller so that the font can be updated. About Betaflight Calibration Throttle . OSD elements are displayed a few characters per second. Remapping Motors with Resource Command Necessity for swapping/shifting/rotating motor positions rises from time to time. The purpose of this page is to provide the reader with detailed information about the inner workings of the BetaFlight firmware. At startup the settings are applied to the transmitter. The number you see is roll D times ten. Added in BF4. I have a tough time remembering trims Read More Dec 8, 2018 · Reputation: 2. PAL - Uses a 30 columns x 16 row grid of OSD elements. Some of the more common arm prevention flags are: THROTTLE - Throttle is above the specified min_check value. It is a mature software with a great community around it. For the Lite Brushed FC V2, please follow this manual. Added in 4. If you're using Crossfire, make sure to configure the Failsafe parameter as "Cut" on your "CROSSFIRE RX" menu. g. 44 # config: YES # start the command batch batch start board_name GEPRCF411_AIO manufacturer_id GEPR # name: CineLog25 # resources resource BEEPER 1 B02 resource MOTOR 1 B04 resource MOTOR 2 B05 resource MOTOR 3 B06 resource MOTOR 4 B07 resource MOTOR 5 A00 If any of them fail, the drone fail to do so. 2 (installation instructions here ); as you have come to expect, there is a detailed Tuning Notes for Betaflight 4. 4, you will only need to enable MSP and then follow further. A flight channel can either be AUTOMATIC or HOLD, an AUX channel can either The two main problems with 'soft mounting' methods are: they all can induce resonance at or around their cutoff point, and. Just a quick reference for stick commands to run your flight controller. Then flash Betaflight 4. This allows for easy drag / drop download of log files. Do NOT use a magnetometer unless you have confirmed that: the magnetometer's axes are correctly oriented; the calibration is accurate; the returned values are clean and noise-free; the correct local declination angle is entered in the CLI; the heading returned by the mag is Watch this! : r/Multicopter. The following board/FC are known to have font upload problem Mar 25, 2020 · The voltage sensor is usually prominently displayed on the OSD while flying. Connect the RunCam Split with the UART interface of the Flight Controller. Among other things you can receive battery voltages and GPS positions on your transmitter. Resistor goes from PIN to OSD, while the capacitor should be connected between OSD and GND. 4 comes with seven significant improvements and many bug fixes. The accelerometer is used to determine level, and is Dec 4, 2023 · Open the ‘Power and Battery’ tab and select the ‘Onboard ADC’ option. Apply HDZero VTX preset. Use them, or use the improved tuning sliders in the Betaflight configurator 10. 2. displayport_max7456_col_adjust Adjust number of characters in a line. My sticks reach the minimum of 1000 Feb 17, 2023 · STICK COMMANDS DISABLE. You can calibrate the various sensors and check the gyroscope live preview, view the arming prevention flags and other FC information. For Betaflight 2. The quad will go automatically on DFU mode and flashing procedure starts. “a” is the scale, “b” is the offset. Treat it the same you would an "RSSI critically low" warning. Please see @PaulKendall's answer for an explanation of how this method works. For onboard flash chips, downloading this way is a lot faster than the 'legacy' way of downloading logs Set up all your power and battery related settings. Jan 24, 2023 · Without any doubt, BetaFlight is the most popular open-source flight controller firmware. 3RC2. If your OSD is connected to UART2 with a baudrate of 57600 and you want to connect to it with your software enter this command: serialpassthrough 1 57600 Then disconnect cleanflight configurator and connect your OSD Software to the com port. An older mode and it is instead recommended to do this on the bench before flying. Most F4 and F7 flight controllers support this firmware. You can see the different arm prevention flags in the OSD, or in the CLI tab after sending a status command. 5 continues improving support for bi-directional DShot communication from ESCs. •. Disable/enable stick command. Is there a possiblity to change the stick commands? Also there is something weird with this setup: The canopy includes the FPV transmitter, camera and If you go into betaflight CLI and enter the command "version" it will tell you what target you need to choose when updating firmware. This is the starting framework - more work can be done. 5. Manual Selection: If Auto-Detect fails, manually select your board from the Oct 5, 2017 · 1. If the The setup tab is the first tab you see when you connect to your flight controller. Disable/enable beeper including warning, status and BEEPERON mode. BEEPER MUTE. Are you getting full range 1000-2000 when you move the sticks to their endpoints? Yes, something like 997-2004 in receiver tab. bz cu sr pb tn dz bt qr cb eg