The default for the PSC Velocity XY P is 2, I gain is 1, and D gain is 0.5 for multicopters.
I purposely de-tuned those to:
for heli’s in 3.6 defaults because I found the multi defaults caused severe oscillation of the position controller with big heli’s that would result in total loss of control in Loiter or Pos Hold. Mostly related to the D-gain, which was hard-coded to zero in 3.5, but the setting was moved to the params in 3.6.
The defaults I set in the PR to heli are the same as what was used in 3.5 and proved to be “safe” no matter what I flew them in.
So if that “fixed” it we may need to keep that in mind for the future for smaller heli’s.