So you want it on all the time??? If so, just uncomment line 120 for now … and it will start up on Error instead of Measurement.
And you’re not being duped … sticks are soooooo ALIVE on d term error. Think about it… D is even faster than P at responding to changes and now its tracking your sticks and comparing them to the gyro… helping to push the quad to match exactly what you are telling it to do. Ever watch the angry birds movie?? It’s the yellow bird. (I suppose that makes P the big red one and I the smaller grumpy red one). But I digress. At first you are right, sticks are kinda … whoa… then you get used to it. And when you switch back … it makes measurement feel like flying in really thick air. Everything is dulled because measurement is just activating D when the quad moves fast and tells it to resist the beginning of the change. That’s not bad - just different.