Quote:
Originally Posted by Ether
See attachment
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Wouldn't another option be to treat the feedback loop as the "rate controller" for the yaw axis? The rotation command from the joystick would be sent to the yaw controller. If it the command is zero then it will work as described in the attachment. If the command is greater than zero, then the controller will allow for more predictable rates of rotation based on the joystick command.
I believe this is how yaw control is managed on most RC Multicopters.