Aggressiveness of position hold in PosHold mode

ArduCopter Copter 4.2
1

I’m curious what parameters control how aggressively the flight controller will try to maintain position in Brake or PosHold mode.

Is it a combination of ANGLE_MAX, PHLD_BRAKE_ANGLE, PHLD_BRAKE_RATE, MOT_BAT_CURR_MAX, MOT_SLEW_UP_TIME and maybe some others? Or is there some overall limitation in terms of aggressiveness? (Also, do PHLD_BRAKE_ANGLE and PHLD_BRAKE_RATE apply to “Brake” mode?)

Is it possible to tune it as aggressively as the DJI “emergency brake”?

2

Do not use pos hold. Use loiter instead. You have more parameters to play with in loiter. And yes it can break very fast.