PT1 element and normalised acc/mag readings.

PT1 element and normalised acc/mag readings.
test flown with the unusual cleanflight defaults.
hmm yeah /= is more efficient, we should change that, even if we are far from having performance issues or having to optimize the code.
for me if flies perfect with the pids in cleanflight, much better than the multiwii pid hack. Of course if you have a more wobbely/vibrating frame it will be worse with a higher D-term. If you find some more universal defaults feel free to commit them.
thanks for the link, I'll look into it.