The bit in the middle where it decides to make its control loop be pure P(roportional), presumably dropping the I and D parts, is interesting to me. Seems like a poor choice.

I try to fly about once a week, I’ve never really tried to self analyze what my inputs are for what I do. My hunch is that there’s quite a bit of I(ntegral) damping I do to avoid over correcting, but also quite a bit of D(erivative) adjustments I do, especially on approach, in order to “skate to the puck”. Density going to have to take it up with some flight buddies. OR maybe those with drone software control loop experience can weigh in?