It is unlikely that auto-tuning will be feasible with this type of system. Optimal tuning occurs when you achieve 1/4 wave damping. Always start with simple proportional control which strives to get the camera aligned with the intended setpoint but can never quite get there. Once you start working with "integral" and "derivative" you are deep into calculus = motion physics. Integral helps to get your camera to the setpoint faster but always involves some overshoot before returning back towards setpoint. Avoid derivative it at all possible.