### IO variables

gyroData/8192*2000 = deg/s
gyroData/4 ~ deg/s

rcCommand - -500-500 nominal, but is scaled with rcRate/100, max +-1250

inclination - in 0.1 degree, default 50 degrees (500 units)

axisPID - output to mixer, will be added to throttle(1000-2000), output range is <minthrottle, maxthrottle> (default <1150 - 1850>)

### PID controller 0, "MultiWii" (default)



## Leveling term

error = constrain(2*rcCommand[axis], limit +- max_angle_inclination) - inclination[axis]
P = constrain(P8[PIDLEVEL]/100 * error, limit +- D8[PIDLEVEL] * 5)
I = intergrate(error, limit +-10000) * I8[PIDLEVEL] / 4096

## Gyro term

P = rcCommand[axis];
error = rcCommand[axis] * 10 * 8 / pidProfile->P8[axis] - gyroData[axis] / 4; (conversion so that error is in deg/s ?)
I = integrate(error, limit +-16000) / 10 / 8  * I8[axis] / 100 (conversion back to mixer units ?)
reset I term if
      - axis rotation rate > +-64deg/s
      - axis is YAW and rcCommand>+-100

## Mode dependent mix(yaw is always from gyro)

HORIZON - proportionally according to max deflection
Gyro - gyro term
Angle - leveling term

## Gyro stabilization
P = -gyroData[axis] / 4 * dynP8 / 10 / 8
D = -mean(diff(gyroData[axis] / 4), 3) * 3 * dynP8 / 32