in my understanding there are 4 parameters that affect yaw rate and
I am confused about what they do exactly.
Can anyone give me an explanation?
Is there a difference between stabilize and acro?
ACRO_YAW_P
6
1 10
Converts pilot yaw input into a desired rate of rotation in ACRO, Stabilize and SPORT modes. Higher values mean faster rate of rotation.
This one is for stick inputs from the pilot. Lower number will give slower response, and vice-versa
This one is the acceleration from current status to the desired rate. How hard it steps on the gas to get to the desired rate
This one is the rate to correct a discrepancy between actual and desired heading. Important for the autopilot to make heading corrections.
This one is the maximum frame rotation rate in deg/sec, for either the autopilot or pilot. If you hold the yaw full over, once it accelerates to the desired rate, the actual rate of rotation of the frame in deg/sec will be limited by this value.
No, not really. In Acro vbar when you push ahead on the cyclic, for instance, the nose will go down and the helicopter will accelerate. Once it’s in cruise you can center the cyclic and it will hold that attitude it’s at and cruise by itself without having to hold the cyclic stick. It is the attitude controller that does that. So having the attitude controller set up right is important in all modes.