message: =More Rust rate PID work
diff: @@ -51,12 +51,14 @@ pub fn run(
  let (roll_demand, roll_pid) = run_axis(demands.roll, vstate.dphi, pid.roll);
  - let (_pitch_demand, pitch_pid) = run_axis(demands.pitch, vstate.dtheta, pid.pitch);
  + // Pitch demand is nose-down positive, so we negate pitch-forward rate
  + // (nose-down negative)
  + let (pitch_demand, pitch_pid) = run_axis(demands.pitch, -vstate.dtheta, pid.pitch);
  let new_demands = Demands {
  throttle:demands.throttle,
  - roll:roll_demand,
  - pitch:demands.pitch, // pitch_demand,
  + roll:demands.roll, //roll_demand,
  + pitch:pitch_demand,
  yaw:demands.yaw
  };
  