Can D in the speed PID of position control be better using actual speed differentiation

ArduCopter Copter 4.5
1

PX4:

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http://brettbeauregard.com/blog/2011/04/improving-the-beginner’s-pid-derivative-kick/

2

Maybe you meant to post this on the PX4 website.

ArduPilot is completely separate firmware.

3

I don’t mean that, I mean the differentiation of PX4 sampling actual speed, while APM uses the differentiation of error