- Set FF (Stick Response) to 0
- Set D Max (Dynamic Damping) to 0
- Set I Gains (Drift – Wobble) to 0 or something minimal, 0.2~
- Try for P to D ratio, by dragging D Gains (5 inch can start from 0.6, sub 4 inch can starts from 1) at +0.2 increment.
- Find a P to D ratio which has no overshoot.
- Try for I Gains, aim for the value before overshoot, you can test in +0.2 or +0.3 increment.
- Test for master multiplier in +0.2 increment, aim for best alignment.
- Aim for noise floor below -30 for gyro, below -10 for Dterm. There should not be oscillation between 40-80Hz.
- By now the gyro data should be close to a perfect shadow of the setpoint, now tweak FF to make them align perfectly onto each other.
- Optional, boost I Gains to optimize cornering behavior if racing.