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Cookie's Advanced Altitude Hold [Hold Altitude Version]

This was made in less than an hour.
This has triple PIDS:
1. Primary [Always ON]
2. Secondary (Final Adjustments) [Optional]
3. Pitch PID (When tilting forward, PID will automatically tilt back to make engine more economical, less strained, and raise altitude.
Enable / Disable the Secondary and/or Pitch PID if issues occur.

Q - Jerks up and down for no reason
A - Lower RPS going to propellers
A - Clamp the output
A - Decrease Proportional value in Primary PID
A - Increase Derivative value in Primary PID
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Q - When tilting, the controller tilts my vehicle back too much
A - Decrease the Proportional Value in the Pitch PID
A - Increase the Derivative Value in the Pitch PID