RadioLink Mini Pix, User Manual

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Parameters Setting
ACRO_RP_P controls the rotation rate for the roll and pitch axis. The default, 4.5, will command a
200deg/sec rotation rate. Higher values lead to higher rotation rates, lower to slower rotation rates.
ACRO_YAW_P controls the rotation rate for the yaw axis. The default, 4.5, like roll and pitch, will
command a 200deg/sec rotation rate.
ACRO_RP_EXPO Acro roll/pitch Expo to allow faster rotation when stick at edges
ACRO_Y_EXPO Acro yaw expo to allow faster rotation when stick at edges
ACRO_EXPO is an amount of Exponential to apply to the pilots stick inputs that only applies to ACRO
mode. By default, ACRO mode is much more responsive, even in the center-sticks positions, than the
other modes, so this parameter allows the pilot to fine-tune stick response in the control to match
what they feel when they are in other modes such as Stabilize, AltHold, PosHold, etc. The default
value of 0 applies 30% expo to Roll and Pitch demands from the pilot.
3.6.3 Altitude Hold Mode
In altitude hold mode, Copter maintains a consistent altitude while allowing roll, pitch, and yaw to be
controlled normally. This page contains important information about using and tuning AltHold.
Automatic altitude hold is a feature of many other flight modes (Loiter, Sport, etc.) so the information
here pertains to those modes as well.