Messing with attitude, Broke throttle control

Trying to "aim" nose at leader for pitch control.  Somehow broke
throttle control.  No longer reducing throttle when in range.  (Gain
problem or broke something?)
Modifying pitch controller, broke throtlle

Trying to modify the pitch controller to "aim" at the leader.  Somehow
broke throttle control.  (Could be a gain issue?)
Changed pitch to use z-dist error in follower's body frame  Throttle OK
Implementing bank and heading matching, reverted to angle-based pitch control
Reverting to stock roll controller while trying to read in new params
Created custom parameters for RNAV throttle controller
Created a custom RNAV_pitch PID controller, added other custom params
Modified to aim off wing of leader to avoid aerodynamic interactions
Removed formation offset for now
Modified roll controller to use relative bank and heading feedback