My tuning is exactly the opposite of all the "guides" out there!
KK says to start tuning with a P gain of 30, I gain at 0 and go up in increments of 5. Mines oscillated massively at 30 and spend ages trying to get a setting that worked - and failed. In the end I went down from 30 (to 17) and left I at 0, and that works perfectly for me!
All current advise is to tune PI with self level off. Increasing gain in the self level settings does not make any difference to "acro" PI, it just controls how sharply the self level "self levels", and how quickly you can control it. Mine was left stock, but have since increased it by 10 to improve response.
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