Jakob, if try the method I outlined for tuning, please report back on that. That is the method Leonard recommended for tuning. It has worked on every FBL heli I’ve tried it on. No drama like the wiki method because you always have control of the helicopter. And cutting the D and P gains in half from the oscillation point has yielded a superbly stable heli in cruise flight where porpoising due to over-tuned P gain can quickly lead to loss of control.
Leonard actually recommended setting I gain equal to P gain. But that was not enough I gain in my experience for heli’s for high speed flight. So I set it equal the FF instead, which then gave excellent results.
I have not heard any reports from anybody else that has tried that tuning method, and not enough heli test pilots on the project. If it works for you like it did for me, I think somebody should consider updating the wiki on tuning of trad heli’s.
I even tried it on a APM with 3.2.1 with my 500 that I set up for pylon racing for the Memorial Day Weekend races at the RC club, and it “just worked”. With a lighter 2200 6S battery in it I later flew this heli at 70+ mph running wide open at 2,900 rpm practicing for the races. Banked over on her rotor tips in the turns at full collective pitch set to 15 degrees it didn’t do anything unexpected using that tuning method.