After finishing autotune, while in stabilize mode, PIDP.SRate averaged 12 and the aircraft flew fine. On the next flight, the PIDP.SRate average was 117, and was constantly getting clamped down by PIDPDmod! I don’t remember changing any settings or hardware between flights.
First flight, which includes a complete autotune session:
Second flight, with high a PIDP.SRate: