Discussions

Hello.

Here are some statement I think are correct, the parameter name are from the APM planner V1.0.63, and the arducopter code from ArduCopter2.0.39b

• Derivative term of all PIDs is now always set to 0
• Parameters RATE_###_P, RATE_###_I: only impact ALL mode (that I am not sure but from the code only ACCRO mode call get_rate_###)
• Parameters STABILIZE_###_P, STABILIZE_###_I: are not used in ACCRO mode
• PITCH_MAX parameter is only usefull when copter is autonomously goind somewhere
• Question: In ACCRO, I could not perfome a looping, It seemed like even in ACCRO there is a kind of horizontal leveling. Is'nt it?

So could someone confirm or deny these statements? Because even with CHannel 6 tunning I find it dificult to tune both ACCRO and Stable Mode

thank you.