Hello,
This is not bug or support, but more like feature request, that can be added in seconds by specialists.
I didn’t where to ask this so please don’t be angry :))
As you probably know , the rate control command in LUA script is performed by the command:
vehicle:set_target_rate_and_throttle()
The next step is
ModeGuided::angle_control_run()
Which calls to
AC_AttitudeControl::input_rate_bf_roll_pitch_yaw()
But actually this is not pure rate control like in Acro, there is kind of some kind of stabilisation control that it performs on the integrated angles, and then translates back to rates, so the final rate command is not the same, and sometimes has some overshoots, even the guard is not required.
In pure Acro mode the single difference is that it uses the function:
AC_AttitudeControl::input_rate_bf_roll_pitch_yaw_2
Which doesn’t has this stabilisation step, and the command is passed directly to the rate loop.
I’d kindly ask to add to the next version the possibility to use pure rate control in guided mode, that can be activated by some parameter.
Thank you.