in ardupilot 4.3.7
How define the PIDA /PIDP /PIDR /PIDN ?
They are Altitude, Pitch, Roll for attitude control
and North, East, Down for position control
If you have a log open for review in MissionPlanner, hover the mouse over them and there is text about what they are.
Check in the developer docs from here on:
https://ardupilot.org/copter/docs/logmessages.html#pida
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