Is there a guide on how to use the arducopter configurator? Just some simple definitions would help really. What is kp rate? What does it affect? When I change the PID settings, how does that affect the copter?
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Also look up the wiki article on PID control.
Kp rate is something I never found a definition of in the arducopter wiki, but I'm led to believe it's how responsive your quad is to a given stick input. A higher value gives more responsiveness, lower gives less.