I did a last attempt at ACRO mode for my thesis this morning, and let me say: it did not work. Even with ATC_SPEED_I set to 0, the vehicle still acts on its own occasionally. And somehow, piddesired and pidachieved always show a flat horizontal line, which doesn’t match with the movements the vehicle is actually doing. I have no clue why it is that way.
Anyways … I’m going to finish my thesis now and do more tests afterwards (since I get to work on the autopilot even after my thesis ends). Thank you for the continous help; I will name you in the acknowledgements of my thesis. Have a great Sunday!