MultiWii

okay, is there a document or a short description, how each PID works? (differs from a standard PID controller, etc. use D as some other than D parm)

SW version: MultiWii 2.2
I think there's a bug in multiwii.ino

PTermACC = constrain(PTermACC,-conf.D8[PIDLEVEL]*5,+conf.D8[PIDLEVEL]*5);
I think it should be:
PTermACC = constrain(PTermACC,-conf.P8[PIDLEVEL]*5,+conf.P8[PIDLEVEL]*5);