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So recently I found out that the Hover mode is meant to shut off outside control for the pitch and roll, since it uses its own function to stabilize those. I tried looking inside of the control block itself but did not find the part that tells the drone HOW to stabilize itself. I'm trying to utilize/edit this hover stability function so that I can manually control the roll, vertical speed and yaw speed, while at the same time having the hover function automatically stabilize the pitch in the background. If anyone knows how the hover mode does its "magic" or how to find out, please let me know ASAP.
