@tilt ahh, just seen your flight video here:
I'm trying to work out which flight log that video corresponds to.
ahh, I think it may be 19.BIN. Yes, that looks like a nicely stable flight in QSTABILIZE.
The attitude tracking looks really good. It is definately suffering from a couple of bugs that have been fixed in master.
just wait a couple of hours and then load the "latest" firmware with control-Q in MissionPlanner. The fix is building now.
Now that I've found that log where its flying well, I have to adjust my recommended tuning. It's actually tracking really well. Just adding the output servo saturation bug fix will help a lot, and raise Q_A_RAT_PIT_IMAX to 1 will probably help a lot.
I suspect that if you lower Q_TAILSIT_VHGAIN as I suggested earlier then you'll have to also raise Q_A_RAT_PIT_* gains, and maybe Q_A_RAT_YAW_* gains too. But just fly again with the saturation output fix first, as really its flying well, so make small adjustments and see how it goes.
I'm really happy its flying. Yipee!