...

This does mean that two controls algorithms may have to run simultaneously, but only for brief moments in time.

Runtime & Over-The-Air (OTA) configuration

PID default values will be runtime configurable (loaded in from an SD card). State mixes, etc, should be statically typed in memory.

PID Values may be updated OTA, and new values can be logged to another text file (with messages) should you wish to reconfigure the drone later. This will largely be handled by system manager.