In Acro mode the user’s steering stick controls the vehicle’s turn rate and the throttle stick controls the vehicle’s speed.
the ACRO_TURN_RATE parameter controls the maximum turn rate the user’s steering stick can request. The turn rate varies linearly from zero to ACRO_TURN_RATE as the RC input varies from neutral to full deflection. Once the input returns to neutral, the vehicle will attempt to hold heading, compensating for external influences, ie. “heading hold”.
Object Avoidance is active in this mode (if configured).
This mode is perhaps the most useful mode for tuning the vehicle’s Steering Rate controller.