[Paparazzi-devel] Questions for ATT mode for multirotor

[Prof. Dr.-Ing. Heinrich Warmers]

Hi,
i have some Question to the different modes.
I made some  bench test with horizontal  attitude of the IMU for the ATT 
mode.
When i command the sticks i notice that  that the generated commands  
for roll pitch yaw are stored  until i command  the opposite  direction.
Is that correct?
If the sticks are in neutral position the old commanded actions are 
taken into account?
If this is correct i notice way i have problems in steering the 
multirotor by RC in this mode.

Is there a mode like the other multirotors projects?
If the roll pitch and yaw sticks are in neutral position nothing is 
commanded and the multicopter goes automatically in the horizontal attitude?
If there is wind you command roll and pitch to hold the position.

It is possible always to correct  the automatic generated commands in 
automatic mode by the RC-commands?
In Germany we have the restriction by law that we have always direct RC 
control also in automatic mode.

Regads

Heinrich