![Smile :)](./images/smilies/icon_e_smile.gif)
At this point I'm not sure a "mixed" rate/angle mode makes a lot of sense... how do you get zero rotation rate if you can't center the sticks? And w/out zero rotation rate, it just keeps accelerating around the axis, no way to stop it at a fixed angle... I've tried a few ways of switching between modes based on stick deflection and so far none of them seem very useful or fun. It would definitely need to be some kind of expo/fusion of rate/angle commands to be interesting.
What does work great is switching back to full-stabilize ("angle") mode from rate mode, even when inverted... AQ pops up like a cork in water.
![Smile :)](./images/smilies/icon_e_smile.gif)
Anyway, more testing to be done.
-Max