Bill Geyer

@Gone4Dirt I took a closer look at the PR and what was being logged. Why are we just logging total cyclic? It makes more sense, IMHO, to log pitch and...

> I still want to keep total cyclic contribution though. @Gone4Dirt I am fine with that. > What this plot illustrates is that we actually saturate on a H_CYC_MAX when...

Merged! Thanks!

@lthall have you ever thought about using dynamic scaling to scale the target response. Not sure if you do this for larger vehicles. I am considering this for heli autotune...

@lthall could you review this to make sure I did this right. I have flown this in a heli and got velocity drb results.

@rmackay9 functionally checked this in SITL and have conducted several sysid flights on a real heli using the position controller sweep settings. Everything checks out. Ready to be merged.

@lthall and @IamPete1 could you guys give an approval on this.

I've tested this in a real heli. No issues. @IamPete1, would you approve please. I plan to put this on tomorrow's devcall unless @rmackay9 is happy to merge once it...

Here is the technical paper that this PR supported. [OuterLoop_HQs_Paper_VFS_2024_final.pdf](https://github.com/ArduPilot/ardupilot/files/15300915/OuterLoop_HQs_Paper_VFS_2024_final.pdf)

> @bnsgeyer regarding the ATC_RATE_FF_EN parameter and the injection points, @lthall told me that they are correct. If that is not the case I need exact information on what to...