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update to AlexK's PID controller #19

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update to AlexK's PID controller #19

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Commits on Mar 25, 2016

  1. update to AlexK's PID controller 

    D parameter for Level PID is now used for sensitivity in horizon mode, based on Cleanflight's implementation. 
default d_level should be set at 100
    @WaspFPV
    WaspFPV committed Mar 25, 2016
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