As a reminder to all… it’s worth reading the documentation
Leonard Hall has written an awesome wiki on setting up your vehicle.
http://ardupilot.org/copter/docs/tuning-process-instructions.html
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Nice reminder. It’s good to note that the auto tune has a range of ‘crispness’ values. My first attempt produced excellent sharp handling but caused oscillation in my suspended gimbal. If you want a stable camera platform better to have slacker tuning, Now mine doesn’t rock the gimbal suspension after de-tuning.
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