Is there any artificial stabilization in MC Acro mode?

PX4 Autopilot Multicopter 🛸
1

Hi all, just wondering what if any stabilization is available in MC acro mode. In particular, I know that mc_att_control has an inner PID loop controlling angular rate–does this loop run in Acro mode?

Thanks,
Anna

2

In acro mode, only the inner loop angular rate controller is running.

3

Correct me someone if I’m wrong but all flight controllers for multi-rotors run at least a rate control PID, so there is always some stabilisation involved.