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Update manual regarding yaw/pitch/roll PID controller.
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@PerMalmberg
PerMalmberg committed Dec 17, 2023
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### Advanced Settings

| Command | Parameters/options | Unit/type | Parameter Optional | Description |
| ------- | ------------------ | --------- | ------------------ | ----------------------------------------------------------------------------------------------------------------------- |
| set | | | | |
| | -lightp | number | Y | The proportional value of the yaw/pitch/roll controller for constructs with a mass of less than 10T. Default: 6.5 |
| | -lighti | number | Y | The integral value of the yaw/pitch/roll controller for constructs with a mass of less than 10T. Default: 20 |
| | -lightd | number | Y | The derivative value of the yaw/pitch/roll controller for constructs with a mass of less than 10T. Default: 1600 |
| | -lighta | number | Y | The amortization value of the yaw/pitch/roll controller for constructs with a mass of less than 10T. Default: 1600 |
| | -heavyp | number | Y | The proportional value of the yaw/pitch/roll controller for constructs with a mass of more than than 10T. Default: 6.5 |
| | -heavyi | number | Y | The integral value of the yaw/pitch/roll controller for constructs with a mass of more than than 10T. Default: 20 |
| | -heavyd | number | Y | The derivative value of the yaw/pitch/roll controller for constructs with a mass of more than than 10T. Default: 1600 |
| | -heavya | number | Y | The amortization value of the yaw/pitch/roll controller for constructs with a mass of more than than 10T. Default: 1600 |

> Note: Adjusting the values of the yaw/pitch/roll controller may allow you to get quicker responses, but also induce instability.
| Command | Parameters/options | Unit/type | Parameter Optional | Description |
| ------- | ------------------ | --------- | ------------------ | ---------------------------------------------------------------------------------------------------------------------- |
| set | | | | |
| | -lightp | number | Y | The proportional value of the yaw/pitch/roll controller for constructs with a mass of less than 10T. Default: 10 |
| | -lighti | number | Y | The integral value of the yaw/pitch/roll controller for constructs with a mass of less than 10T. Default: 0 |
| | -lightd | number | Y | The derivative value of the yaw/pitch/roll controller for constructs with a mass of less than 10T. Default: 800 |
| | -lighta | number | Y | The amortization value of the yaw/pitch/roll controller for constructs with a mass of less than 10T. Default: 0.1 |
| | -heavyp | number | Y | The proportional value of the yaw/pitch/roll controller for constructs with a mass of more than than 10T. Default: 6 |
| | -heavyi | number | Y | The integral value of the yaw/pitch/roll controller for constructs with a mass of more than than 10T. Default: 1 |
| | -heavyd | number | Y | The derivative value of the yaw/pitch/roll controller for constructs with a mass of more than than 10T. Default: 1600 |
| | -heavya | number | Y | The amortization value of the yaw/pitch/roll controller for constructs with a mass of more than than 10T. Default: 0.1 |

> Note: Adjusting the values of the yaw/pitch/roll controller may allow you to get quicker responses, but also induce instability. If the construct behaves jerkish, try lowering the lightd/heavyd value.
### Free and strict mode

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