HangTime

A new feature added in the Tanto release is HangTime. HangTime allows performing maneuvers while at very low throttle settings.

HangTime is similar to "Air Mode" in CleanFlight and related firmwares, but takes a different approach.

• Management of both low power and high power clipping is significantly improved, resulting in better control even when not at zero throttle.
• Actuator curve fitting is now enabled by default, which improves control authority in low power scenarios.
• The user can specify a maximum amount of net power to use during stabilization. This should be comfortably under the amount of power used to hover to ensure that the vehicle cannot climb during HangTime maneuvers.
• The user can specify a maximum amount of time for low-power stabilization. This further improves the safety of the HangTime feature and helps prevent uncontrolled flights or fly-away scenarios.
• HangTime is used briefly in failsafe scenarios; if there are brief blips of lost radio connectivity this allows recovery, and if there is a complete loss of signal the quadcopter is better able to decelerate and land flat, potentially reducing damage.

To use HangTime, you should also be using switch arming. This is necessary for a couple of reasons. First, it's really bad if the vehicle responds to stick-arming commands at zero power. Second, most stick-arming commands could be reached accidentally when in HangTime flight, and disarming in the air is no fun.

HangTime is configured on the Expert Stabilization configuration pane in the UI:

Set the maximum power add to a few percentage below your hover power-- for instance, if your quadcopter hovers at 15% power, consider a value of 10%. Set the HangTime to comfortably longer than you expect to do free-fall maneuvers for (for instance, if you expect to freefall for 2 seconds, set it to 3.5 seconds).