A simulated drone rate loop using active disturbance rejection control (ADRC).
Drag the sliders to see how controller bandwidth, observer bandwidth, and the
nominal control gain change the step response and recovery after an applied disturbance.
An oscillation is injected at t = 2.5s as a disturbance. The simulation is
qualitative and to build an intuition for how each parameter affects the
controller, not to predict real flight behavior, so the conditions are
deliberately unitless.