This is my understanding of the YAW HOLD and ACRO PID's. Please let me know if I have missed anything. I am doing this because I wanted diagrams like this when I first started tuning arducopter.

I set the STB_YAW_I and STB_YAW_IMAX terms to zero because I don't think I need them to get good results and they make the tuning and modeling vastly more complicated.

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