I have a question regarding TPA and AlwaysStabilized. So I have my copter tuned pretty well I believe. It's behavior is "spot on" most of the time. Set up TPA on PD only. It gets rid of my oscillation on punch outs and all that but when I invert(hang time) and float, I get a wandering yaw. Not uncontrollable. I have complete control, but it's like a "too low of I gain" type of yaw drift. But I'm upside down. I have not tried to have TPA on PID just on PD. I've started using an idle up switch to see if that helps. And although I have more control, it's still yaw drifts while upside down. Not the case right side up. I thought about upping my motors spin at armed speed but I figured an idle is the same thing. Should I use tpa across all three PID? It does seem to make sense that With it setup with no I scaling this might happen. That's what I'll try next tomorrow. It is set to work across all three axis. And I don't get it on roll or pitch at all just yaw while inverted.
Side note: I have read and re-read this thread many times and although I get the concern for safety with this setting... I don't really see a safety issue at all while switch arming. I either have wonderful luck or have this figured out. I run a switch arm.
Motors idle at armed. Set for 10ms. (Default is 1000). And always stabilized on. Also a three POS switch tied to the throttle channel for an idle up. 1st Position nothing, just for arming. Second and third Position, 2 idle speeds. Now, it will not arm unless the idle is set to POsitin 1 and stick all the way down. So it's kind of like a throttle cut I can arm in idle 2 or three but nothing happens until I go to position one. That's how it's supposed to work, correct? But on disarming...it makes no difference what combination of switches or sticks are at. It will disarms the motors in 10ms with the flick of a switch, every time without fail.
Basically what I'm saying is I believe this mode is totally safe, setup properly. I do get a slight bounce on landing but that's easily solved with a disarm or just careful piloting and a smooth and precise touchdown.
One more thing. After learning how to setup an acro/race copter and wondering if I was missing something not running an F3 board and beta flight. I have to say my cc3d and LP combo is at the same level of tune and performance or beyond alot of the naze/clean/beta flight combos I see on YouTube. I first heard of all these ppl online dogging in the CC3D and wonder if I had made a mistake sticking with it. Well After tuning two acro copters, I can say with confidence, I am very happy with the results. You guys (devs,coders,testers) do a great job. Keep it up!
One last question. Any discussion on adding a "super expo" type feature? Or making a larger expo graph and settings feature like the throttle curve for more fine adjustments? Could be cool to try different expo rates...