I'm trying to write code for the aircraft with vertical take-off and landing based last arduplane code, and therefore carefully reviewing code of arducopter (altitude.pde and ap_motorstri.cpp). incidentally found that the levels of the stabilizing effects do not depend on the level of throttling. this may be the reason that overloaded and underloaded models require different PIDs settings.

I think should be applied to the values ​​of the coefficient of stability with scaling with minimum throttling 0.7 and 1.4 at the maximum throttling.

maybe I missed something?