Hi! I tried Auto Tune with best stability and the Values found from the GUI worked great in Handheld Mode. In Flight Test there was a lot of self-excitation maybe because of Disturbance and Winds. Then i lowered P setting from Autotune and increase D Settings. All Values have a ratio of D= 70-80% of P Auto Tune founds Value Ratio of D=40-50% of P Also speeds are very low: I use 0.03 - 0.12 Maybe i am wrong but if you have problem to find good flight PID Settings maybe give it a try. I think i have to write it down because i saw a lot of people using also high D= Values.