Radiolink Electronic Ltd
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3.6.1 Stabilize Mode
Stabilize mode allows you to fly your vehicle manually, but self-levels the roll and pitch axis.
If you’re learning to fly, try Alt Hold or Loiter instead of Stabilize. You’ll have fewer crashes if you don’t need to
concentrate on too many controls at once.
(1) Pilot’s roll and pitch input control the lean angle of the copter. When the pilot releases the roll and pitch
sticks the vehicle automatically levels itself.
(2) Pilot will need to regularly input roll and pitch commands to keep the vehicle in place as it is pushed
around by the wind.
(3) Pilot’s yaw input controls the rate of change of the heading. When the pilot releases the yaw stick the
vehicle will maintain its current heading.
(4) Pilot’s throttle input controls the average motor speed meaning that constant adjustment of the throttle is
required to maintain altitude. If the pilot puts the throttle completely down the motors will go to their minimum
rate (MOT_SPIN_ARMED) and if the vehicle is flying it will lose attitude control and tumble.
(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.
