Well explained, i share the same procedure by experience. You have this somewhere on your mega link?
like this one too : http://diydrones.com/forum/topics/705844:Topic:46763
Originally Posted by jesolins
Increase one point at a time until you get the pitch and roll axis resistance and only one bounce to recover when the arm is test struck/upset. If you are seeing oscillations, then back off until they are gone.
Increase until amount and strength of self-leveling is achieved. You might have to lower P if you have this set too high. It is a balance decision between the two.
Adjust after the "P & I" to decrease repeat bounce or oscillations after a test strike/upset.
Quadrocopter and Tricopter Mega Link Index