[Mallowsthecat]

Hello,

i would like to ask:

-  when i adjust rate stabilization inner loop will it take effect in ATTITUDE and RATE-TRAINER mode?
-  when i adjust attitude stabilization outer loop will it take effect in ATTITUDE and RATE-TRAINER or just ATTITUDE?
-  where is the proper section that i can adjust ATTITUDE PID and RATE-TRAINER PID?

Thanks

[TheOtherCliff]

Inner loop is the rate loop and is always used so changing it affects all modes.

Outer loop is only used in self leveling modes like Attitude.

Generally the way to tune correctly is to tune inner loop so that Rate mode flies well and then tune outer loop so that Attitude flies well.

Rate is the lowest level mode.  Attitude uses Rate mode and builds on it.  GPS flight modes use Attitude mode and builds on it.

[Mallowsthecat]

thanks again for the help Cliff