Control structure

Here is a simplified basic diagram that show control structure:

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The Attitude stabilization loop (the outer loop) compares the bank angle of an axis with the Attitude desired (stick position) from your transmitter, and sends a signal to the Rate stabilization loop that is the difference of the two.

The Rate stabilization loop (the inner loop) compares the rotation rate measured by the gyroscopes for that axis to a control signal.

• If you set the stabilization mode for an axis to Rate, the control signal for the Rate (inner loop) comes directly from the transmitter, bypassing the outer loop.
• If instead you set the stabilization mode for that axis to Attitude, the control signal for the Rate loop comes from the Attitude stabilization loop.