Need Yaw Tuning Help

I have been using my tracker (servo city gimbal) and just upgrade to a Pixhawk with 1.0 firmware. I have two issues with the Y axis.

  1. I have position servos set to turn 360 degrees. When I fly past the limit it does not turn back to pick up the aircraft on the other side. I have to fly around to the front side until the error angle is less than 180 degrees before it swings to the airplane and resumes tracking. It worked with my old setup - what am I missing?

  2. It has yaw overshoots. I assume I can fix it with PID tuning. Is here a tuning procedure I should follow or is it just trial and error?