We should have read the posts closer. Though we thought the manual tuning for our copters was spot on we were so-so wrong. We upgraded our shop Centurion MKIII to 3.5.0-rc2 and gave autotune a whirll.
Our flight engineer Berlin envoked in Loiter and was surprised it was holding position through the first few twitches but then I heard a mess of expletives from her as the copter yawed off 90 degrees. Told her to hang on to it then realized it was by design.
We ended up with a large change in PID's, Though the numbers looked scary to us we are amazed that a good flying copter is now an amazing flying copter.
Kudos to all the development team for this release candidate.
Where is the donate button?