Unclear documentation regarding fw_d_level

[rsilk1949]

I am using Angle as my default mode on my fixed wing. In Horizon mode I am trying to make the transition from Angle to Acro less sensitive by changing the fw_d_level threshold. The wiki and other docs show an example value of 75 (default) stating this transition kicks in at 75% of the stick movement.

INAV_Modes.pdf "This value sets the transition point, when Horizon mode will switch from angle control to rate control. A value of 75 means, that a roll stick output of more than 75% to each side will cause a full roll movement like in Acro mode"

In the CLI, the range for this param is 0 - 255, not 0-100, so 75% is equivalent to a value of 255*75/100 i.e. 191.

[Jetrell]

MC or FW d_level aren't used in the way a classic d-term is.. Its a combination of the present rate target and the calculated angle rate target. Which allows the transition between Angle (level) and Acro (rate of rotation). I'd classify it more like a Control Derivative or Feedforward.

The setting allows for a value up to 255. But the scaling would seem to indicate that Increasing d_level greater than 100 wouldn't be of much use.. But it depends on the p_level and i_level lpf. For a fixedwing its better to have the fw_i_level rather low; 4 or lower. Because the level response of a fixedwing is rather slow and isn't always as linear as a copter.