I am new to APM, coming from OpenPilot where I am used to having Rate mode configured so that, with enough I term, the copter will hold its angle, with no stick input.
So far, in my attempts to tune Acro with the same quad, I cannot get this to happen. I can add Rate I, but it never really locks in, and instead slowly returns to level, and if I keep raising it, I get oscillations.
This is not an autotune question, just a manual tuning one. Is this supposed to work? This is currently on 3.1rc5, and a basic 500-sized quad. Thanks in advance!
[edit] just found ACRO_TRAINER set at 2 (Leveling and Limited). Will try at 0. Assuming that makes a differnce, it is truly supposed to (theoretically) hold that angle indefinitely?