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3.6.2 Acro Mode（FPV）
Acro mode (Rate mode) uses the RC sticks to control the angular velocity of the copter. Release the sticks
and the vehicle will maintain its current attitude and will not return to level. Acro mode is useful for aerobatics
such as flips or rolls, or FPV when smooth and fast control is desired.
ACRO mode trainer
ACRO_TRAINER setting
0 is disabled. This means the pilot operates in full Rate control with no automatic leveling nor
angle-limiting performed by the autopilot.
1 is automatic leveling. The vehicle will automatically return to the level when the pilot releases
the sticks. The aggressiveness with which it returns to level can be controlled with the
ACRO_BAL_ROLL and ACRO_BAL_PITCH parameters. The default of 1.0 will cause it to return
to level at up to 30deg/sec. Higher values will make it return more quickly.
2 is Default to automatic leveling and lean angle limited. Includes the automatic leveling as option
#1 but in addition the vehicle will not lean more than 45 degrees (this angle can be configured
with the ANGLE_MAX parameter).
The trainer can be enabled/disabled using the Ch7/Ch8 switches. With a 3 position switch the off position (i.e.
PWM < 1200) will disable the trainer, middle position will enable option #1 (automatic leveling) and the top
position (i.e. PWM > 1800) will enable option #2 (leveling and lean angle limited). With a 2-position switch only
options #0 (disabled) and option #2 (leveling & limited) are possible.
Parameters Setting
ACRO_RP_P controls the rotation rate for the roll and pitch axis. The default, 4.5, will command a 200deg/sec
rotation rate. Higher values lead to higher rotation rates, lower to slower rotation rates. ACRO_YAW_P
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