//The constructor below is an abomination and will be nuked as soon as the GUI as it is gets removed.
public AdaptivePID(float pP, float pI, float pD, float rP, float rI, float rD, float yP, float yI, float yD)
{
pitchPID = new PID(pP, pI, pD);
rollPID = new PID(rP, rI, rD);
yawPID = new PID(yP, yI, yD);
}
float pIntLimt = 0.2f, rIntLimit = 0.2f, yIntLimit = 0.2f; //initialize integral limits at 0.2
public AdaptivePID()
{
pitchPID = new PID(pitchP, pitchI, pitchD);
rollPID = new PID(rollP, rollI, rollD);
yawPID = new PID(yawP, yawI, yawD);
}