The max P for YAW is supposed to be .5 and .05 for I. Every time I do an autotune I get 1.4 to 1.5 for P and .14 to .15 for I. Got a really good autotune for pitch and roll and yaw seems fine as well. Put the yaw to default .2 and .02 and you can see it twisting as it does auto missions. Do anything above .5 and .05 even do anything as it’s beyond the max values.