Thanks for sharing your experience. I checked again today, but I get some oscillations with the same PIDs than with FW 1.3. Before I had for Roll PID 12-0.11-10 and with FW 2.0 PID 22-0.12-20. Results are pretty much the same. But I had some problems, performing AUTO External FC gain after connecting BGC board to FC, bust this is another post... :-)