the How to methodically tune (almost) any multicopter using ArduCopter 4.4.x Blog post explains what cause each one of those, how to mitigate them, and where are the limits/acceptable values.
the How to methodically tune (almost) any multicopter using ArduCopter 4.4.x Blog post explains what cause each one of those, how to mitigate them, and where are the limits/acceptable values.