AC 4.1 atc_ang_lim_tc need explanations


How atc ang lim tc param work?

From where it determines the need to limit angle?

I supose that it determine the need to limit angle from error from alt error wich is desired alt - current alt or desired vspeed - current vspeed ?

How to set the range of error we accept? It is hard coded? How much it is ?

Also there is a way to monitor it on mission planner mavlink or maybe the dataflash log?

There is a way to disable it ?

Thank you