Looking or the Holy Grail of PID's So, another test flight, with some less wind above my favorite rice field. If anything goes wrong, a wet but soft landing and a sure but muddy recovery Changed back to CF Vision Style Props, they are very jerky in high winds, but do ok in moderate and no wind. One T Motor (just a few flights ) has developed a bad sounding bearing. Although the SimpleBGC manual states you need to increase D to decrease low frequency oscillations, which I think I have in my previous videos, I tried decreasing them. This sort of helps. Stability is improving, but still vibes and a bit of slow oscillation, aka wobble. Did an advanced calibration again, horizon still drifting but a bit better. Current SimpleBGC settings: PID: ROLL: 30,0.35,16 PITCH 12,0.35,14 YAW 14,0.3,14 Motor Config: ROLL: 106 PITCH 66 YAW 84 GYRO THRUST 94 Follow Yaw Deadband 6 degrees. Balls used: 6 soft black ones, and two blue balls from my Goodluckbuy gimbal, since I tore a black soft one up, they are like chewing gum don't you think? I janked the Phantom around a bit, this was not a lets go slow flight. Next will be decreasing D even more I guess, add a little P? For the people who like to see contextual videos on youtube, right click open in new window: http://www.youtube.com/watch?v=DMlEkHw8P_M For the people knowing a lot about forums, but less about smooth video: [youtube]http://www.youtube.com/watch?v=DMlEkHw8P_M[/youtube] Shot with Gopro at 60fps, video cut and saved at 30fps. Ow, if its not in the settings, you have to buy a better quad.