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Full Parameter PDF

Overview

The RATE parameter group (specifically RATE_ENABLE or FSTRATE_ENABLE) configures the execution architecture of the high-speed Attitude Rate Controllers.

Key Concepts

1. High-Priority Threading

Modern ArduPilot firmware can run the critical rate PID loops in a dedicated high-priority CPU thread.

  • RATE_ENABLE: Enables the fast-rate threading logic.
    • Benefit: Ensures that motor updates are never delayed by lower-priority tasks like file I/O or MAVLink processing, resulting in a more stable and "locked-in" flight feel.

Developer Notes

  • Library: AP_Scheduler.
  • See Also: FSTRATE for more details.

RATE_ENABLE

Default 0

RATE_ENABLE: Yaw rate enable

Description

Enable yaw rate controller for aerobatic flight.

Values

Value Meaning
0 Disabled
1 Enabled
  • Default: 0

Description

This parameter enables a dedicated rate-based controller for the Yaw axis on fixed-wing aircraft.

  • Function: When enabled, the autopilot will try to maintain a specific yaw rate (degrees per second) proportional to the rudder stick input, rather than just passing the stick input directly to the servo.
  • Use Case: Primarily for aerobatic planes or 3D flight where precise yaw rate control is desired during maneuvers like knife-edge or spins. For standard coordinated turns, the standard lateral acceleration controller is usually sufficient.
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Rally Point Configuration (RALLY) Raw Data Configuration (RAW)