I've updated to FW 2.0 and it worked pretty well. Peak Delta angle in Roll axis was around 1.4 degrees. Then I connected BGC Board with MK FC (Version 2.2, FW 0.9h) to get better results. . I defined roll and pitch in FC with the same parameters. No filtering, low gain and checked with a standard servo, that max movement was around 30 degrees.

After performing AUTO function for External FC gain in both axis I got every time a value of around 20 for Roll and 0 for Pitch axis !? The peak delta for roll axis decreased to 0.6 degrees. Great! But Pitch axis was bad. Peak delta around 20 degrees! Even when I tried to set External FC Gain for Pitch manually to values from -20 to 20, almost no changes. After setting gain in FC to 0, pitch axis had the same peak delta of around 1.8 degrees than before connecting GBC board to FC.

Any ideas, hint or known bug?

Thanks
Peter