The new setting will work this way:
- Input (knob) value is used straight as roll or pitch P term;
- P term is mutliplied by two configurable factors and used as D and I terms;
- (Optionally) Yaw P term is calculated from a mean of roll and pitch P terms multiplied by a configurable factor.
- yaw P term is multiplied by other two configurable factors and used as yaw D and I terms.
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