Hi Shawn
I apologize … obviously, as a teetotaler, I had drunk too much 
I propose it again if you had time/desire to take a look to understand if we are at risk of overturning
a dear greeting
https://drive.google.com/file/d/1HEKAfKvVwdy3v6idX3B8kbrPENe2RIAl/view?usp=sharing
It’s still a bit nervous, try these
ATC_RAT_PIT_D,0.003
ATC_RAT_PIT_I,0.10
ATC_RAT_PIT_P,0.10
ATC_RAT_RLL_D,0.003
ATC_RAT_RLL_I,0.10
ATC_RAT_RLL_P,0.10
INS_HNTCH_FREQ,38
I dont think we’re over-tuning. I’d like to see it stable enough that pitch and roll autotune will work well. It seems to be getting close now.
Hi Shawn … I’m flying a little with mine who is more or less similar to that of the discussion above.
After uploading 4.3.6 I have the extremely reactive reclaimed velocity.
I don’t want the ready -made baby food so let me find it between PILOT_Y_RATE and EXPO, ATC_ACCEL_Y_MAX etc.
I find myself an ATC_ACCEL_Y_MAX = 9213 (perhaps out of Autotune) but it’s really too fast
Did it not have to be slower low? Also I did not understand the difference between ACRO_Y_EXPO and PILOT_Y_EXPO
I also want to ask you if your spreadsheet is updated and if in case you can post it because maybe I have an old one
Thank you