My new F550 hex-frame with Pixhawk was drifting in Yaw during the maiden flight. Alt_hold flight mode seemed not too bad so I decided to run Autotune in Yaw only. The default Yaw PID parameters are 0.18 for P, 0.018 for I and 0 for D. After Autotune, P is now 1.1, I is 0.11 and D is still 0. I was wondering why autotune allows the PID parameters to go outside the specified range in the Copter documentation ? ATC_RAT_YAW_P is supposed to have a range of 0.1 to 0.5 and ATC_RAT_YAW_I range of 0.01 to 0.05. By saturating P, shouldn’t the copter oscillate ? Mine did not but I want to be cautious.