On the kk there are 3 PI loops, two of which are connected together I believe I was just wonder...

[G+_Nathan Coon]

On the kk there are 3 PI loops, two of which are connected together I believe.  I was just wondering if there is an order we need to do them in and if they affect one another.  And if there is anything different that I need to look for in the behavior of the quadcopter when tuning the third PI loop.