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Control structureHere is a simplified basic diagram that show control structure:
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.
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There is two settings for Attitude mode: the max bank angle and the proportional term, assuming the Rate (inner loop) is already tuned.
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