RCPIC with autopilot controlling rudder/yaw

[Kevin Surminski]

There are some instances where having select PID loops enabled/disabled in PIC mode would be beneficial for integration and loop tuning.

By setting arcade config [1680]= 0X100 (256 in base 10) and ch5switch type [788] =1 (arcade mode) you can successfully disable the roll and pitch loops while having the rudder/yaw rate loops active.

This can be useful on a helicopter with a flybar, allowing arcade control for the heading/rudder and PIC control for pitch/roll (flybar mechanically stabilizes pitch/roll).