Q1; There is the parameter Q_YAW_RATE_MAX in ArduPlane manual for Plane 4.6.3 but I can’t find it in the Mission Planners “Full Parameters List”. Is this parameter still exist or it has been replaced by the Q_A_RATE_Y_MAX?
Q2; I understand that Q_A_RATE_Y_MAX limits plane’s maximum yaw rate and I set it 75 degree per second for my octoplane. With this parameter I conducted hovering yaw control test and checked the log data and I found that both desired and actual maximum yaw rates are 97 degree per second, well over the Q_A_RATE_Y_MAX. What is the reason of this curious test result? How I can limit the maximum yaw rate?
There could be a variety of reasons you are overshooting the target 75 deg/s, but can likely be solved via tuning. It may be as simple as getting the ideal Q_A_RAT_P/I/D values (assuming you are in a non-vectored thrust configuration). Quadplanes have pretty high inertia in the yaw axis and getting a good yaw tune can be challenging.
I understand that quadplanes have much more inertia and they tend to overshoot. But as far as the desired yaw rate is concerned, it must be limitted to the maximum value specified by Q_A_RATE_Y _MAX. Don’t you think so?