Corrected PID constants.

quad/src/quad_app/PID.h

@@ -33,8 +33,8 @@
 #define ROLL_ANGLE_KI 0.0f
 #define ROLL_ANGLE_KD 1.0
 #define ROLL_ANGLE_ALPHA 0.88
-#define YVEL_KP -0.1
-#define YVEL_KD -0.02
+#define YVEL_KP 0.1
+#define YVEL_KD 0.02
 #define YVEL_ALPHA 0.88
 #define YPOS_KP 0.55
 #define YPOS_KI 0.0075
@@ -52,11 +52,11 @@
 #define PITCH_ANGLE_KI 0.0f
 #define PITCH_ANGLE_KD 1.0
 #define PITCH_ANGLE_ALPHA 0.88
-#define XVEL_KP 0.1
-#define XVEL_KD 0.02
+#define XVEL_KP -0.1
+#define XVEL_KD -0.02
 #define XVEL_ALPHA 0.88
-#define XPOS_KP -0.55
-#define XPOS_KI -0.0075
+#define XPOS_KP 0.55
+#define XPOS_KI 0.0075
 #define XPOS_KD 0.0
 #define XPOS_ALPHA 0