TauLabs/TauLabs — pull request #795 by peabody124 (2013-07-24 17:08:21+00:00)
Title: Virtual flybar: use PID controller

Previously the virtual flybar mode was just a PI controller
with the P always on the gyro (setpoint of zero) and the I
applied to the virtual flybar angle. The stick position
suppresses the controller output and adds a command signal.

Now instead of the simple P controller component the PID
controller is used but the ILimit is zero (unused) and the
PD component is used. This is still suppressed the same way
but allows tuning a Kd parameter to get a higher gain with
neutral stick.