Col.
KK setup is as follows:
P Gain 60 (I could go higher but it's responsive at this with no oscillations)
P Limit 100
I Gain 5
I Limit 20
on the rudders it's
P Gain 60
P limit 20
I Gain 20
I Limit 10
Self Level is set at:
P Gain 40 (this is I believe how much the board wants to level the quad - higher values make it right itself quicker - but I set it lower as I want to dial out some of the self level. At 40, the Quad levels very progressively)
P Limit 70 (this I believe is how much Input you have against the self level wanting to work, low values make the Quad very stable, but less agile. I've found 70 allows me to get is sidewards is I want to
)
Height Dampening I have set at 5.
This is a bit hight, but it means after a fast low sweep across the ground, when I yaw and rudder to turn / fly a big arc, the Quad want to go up rather then turn into the floor, I have to sometimes fight against this, but I figure it's safer having the Quad want to climb when Yawing, rather than falling as it would with it set at 0