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(5) The throttle sent to the motors is automatically adjusted based on the tilt angle of the vehicle (i.e.
increased as the vehicle tilts over more) to reduce the compensation the pilot must do as the
vehicle’s attitude changes.
Always switch into a manual mode such as stabilize if the autopilot fails to control the vehicle.
Maintaining control of your copter is your responsibility.
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.
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