Is there any artificial stabilization in MC Acro mode?

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?


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

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.