felixge/pidctrl — pull request #2 by PSUdaemon (2014-10-11 15:34:32+00:00)
Title: Tuning changes

http://brettbeauregard.com/blog/2011/04/improving-the-beginner%E2%80%99s-pid-tuning-changes/

This allows us to change P, I, and D values on the fly without undesirable side effects.