[QAV Jim]

Hi,

I've finally got the PIDs down to where I'm comfortable in rate mode.  I mean to say, it flies really well.  To get the PIDs, I found UOVs and used Optune. 

The only complaint I have is that in rapid descents, there is some minor oscillation.  Also,  the quad falls out of hard turns.

HARD TURNS
For the falling out of the turn, I found if I use more roll (same direction as the turn) and more positive pitch input, it doesn't fall out but acts just a tad unstable during the turn until the turn is complete.

HELP
Now that my PIDS are close (very good in fact), how do I know which adjustments to make to fine tune?  Thanks.

Jim

[TheOtherCliff]

The up coming 16.09 version has AutoTune in it that does everything, calculate PIDs and write them to PID bank #3.  RC# are out.  I would try AutoTune there.  See wiki for AutoTune details.

[chromvis]

I agree with TheOtherCliff.
I tried Optune recently - I had horrible experience. My copter is overpowered (26% hover) and to find stable oscillation point was some challenge. Calculated values were actually significantly different than from autotune and I could not say that they were better. They actually leave very little window for adjustments.
While autotune give you all you need in just one minute with even very convenient possibility to modify for smooth or sharp response.
It also reflect your aggressiveness settings (base angular velocities in attitude and race modes).  (I tried Optune first in my regular settings of 100/360 deg/s for att./rate - I would not recommend anyone to do this.