Rate Mode
Goggles on. Fly a five-inch freestyle quad through an abandoned cement works in true rate mode: a real 6-DOF airframe with a measured inertia tensor, lagging motors and propeller coefficients, a Betaflight-class PID loop you tune on the bench, a LiPo that sags and warms, and a 5.8 GHz video link that blocks up behind concrete. Eighteen flights: learn, eight freestyle lines, three races.





