NAZE32 – Baseflight

Update: I don’t fly on baseflight anymore, I’m on Cleanflight as there is an amazing team of people making it better non-stop…

There is an overview of setup required to get a Naze32  Acro board up and running. What I detail below is how i go about getting each new board running and flying in a new multirotors.

Naze 32

Naze 32

  Initial setup Guide:

After reading the manual, check this video about the Naze32 basics. Just to get familiar with the layout of the pcb and the software. It’s really a great starting point in getting to know more of the Naze32!

 Minimum Configuration:

A faster loop time means that more commands will be available to the ESC’s. ESC’s operate a different Hz, mostly around 400hz = 2,500 microseconds. Changing the loop time will change what the PIDs do, as they are being processed faster or slower, so have more or less of an effect. Generally a lower loop time = higher PIDs.

 3500 286hz
 3000 333hz
 2500 400hz
 2000 500hz
 1500 600hz
This is only used in Angle/Horizon Modes, the code was originally written for 8-bit flight controllers and as such was optimized for a slower loop. Also, the lpf (low pass filter) is increased to further smooth the accelerometer data.
Increasing ACC_LPF_FACTOR would reduce ACC noise, but would increase ACC lag time. You will notice the difference even in the GUI.

“acc_lpf_factor” can be affected by vibrations from the motors/props, so you should fix your vibrations as much as possible before playing around this parameters, to get the best from it.


The default board output for connection to your receiver is Pulse Code Modulation (PCM). Some receivers are capable of a feature called Pulse Position Modulation (PPM). The fundamental difference is, PPM allows multiple channels to be combined and sent down a single signal wire.

 Board Yaw:

 If you decide to change the orientation of the board, it is a requirement to provide the software with an offset. In this instance, you can use:
 Arrow DirectionValue

Lost Buzzer implementation:

The Naze32 board supports a buzzer from connection 4. The output is 5vdc, which is great if you have a buzzer from a KK2 board.
Simply configure your transmitter to switch an AUX port. Then in the Auxillary Configuration tab, set the buzzer to be enabled when you select the transmitter switch.