Here is what we’re running in our survey helicopters. Note no VFF, it would appear I set the I gain to half of the P. No scientific reason for that I-gain setting, that I recall. It must’ve looked like a good idea at the time and it worked.
These helicopters have vertical stabilizer so may not be representative.
When setting the P-gain with zero VFF make sure you have 100% tail pitch movement by testing with your RC radio. P-gain too low and you won’t have full travel.
ATC_RAT_YAW_D 0.005
ATC_RAT_YAW_FILT 25
ATC_RAT_YAW_I 0.11
ATC_RAT_YAW_ILMI 0
ATC_RAT_YAW_IMAX 0.5
ATC_RAT_YAW_P 0.22
ATC_RAT_YAW_VFF 0
ATC_SLEW_YAW 4500