Rate_controller_run about roll/pitch/yaw control not zero

ArduCopter Copter 4.0
1 
		 //pid+roll
	    _motors.set_roll(get_rate_roll_pid().update_all(_rate_target_ang_vel.x, gyro_latest.x, _motors.limit.roll) + _actuator_sysid.x);
	    _motors.set_roll_ff(get_rate_roll_pid().get_ff());
	    //adrc+pitch
	    _motors.set_pitch(_adrc_rate_pitch.control_adrc(_rate_target_ang_vel.y, gyro_latest.y, 0, 0.5));
	    //pid+yaw
	    _motors.set_yaw(get_rate_yaw_pid().update_all(_rate_target_ang_vel.z, gyro_latest.z, _motors.limit.yaw) + _actuator_sysid.z);
	    _motors.set_yaw_ff(get_rate_yaw_pid().get_ff()*_feedforward_scalar);

_roll_in , _pitch_in and _yaw_in deafult have a little value .when is not arm
2c92bd9d64271ec43b7520094da1169

2

Is this on ArduCopter version 4.2.3?

3

Normally, the motor is not unlocked, and the PID output should be zero