In Position mode with 1.11.0 beta (tailsitter in MC mode) pitch rate controller does not seem to work: actuator outputs is proportional to rate setpoint and does not depend on estimated rate. Difference with Stabilized mode can be clearly seen in FlightPlot with following expressions:
Neither yaw in this log nor pitch with older firmware have this effect.
- Is it true that pitch rate controller does not work in Position mode?
- Which controller controls rate setpoint in Position mode? (This setpoint looks like result of some PID.)