1. A method of correcting for vibration disturbances of a head position in a disc drive, comprising: (a) controlling a positioning motor for the head with a controller having multiple sets of adjustable controller gains “g i ”; (b) coupling an accelerometer output indicating vibration of the disc drive to the controller; (c) comparing the accelerometer output to an acceleration threshold stored in the controller; (d) branching conditionally in the controller as a function of the comparing; and (e) updating one set of the adjustable controller gains “g i ” within a computational time limit after a first conditional branching.