If you want to fly smoothly in rate/acro mode, you have to learn to coordinate your turns manually. Coordinating turns means adjusting yaw and roll input so that the nose of the copter is always pointed where the copter is going. This video tutorial shows how to coordinate turns when flying an FPV multirotor. I also discuss why coordination is necessary, and why things look the way they do through the FPV goggles.
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