PID setting copied from the PID-example video.
Except:
Navigation altitude speed P to 120, I to 1.1
Dead band on 60 and the other two values under special from 0.7 to 0.6
Yaw needs to be faster, Yaw is 90 degrees overshooting, left and right.
Motors are clipping a bit.
Boring video with PH and RTH over and over and over again... (SPOT ON!!)
http://www.youtube.com/watch?v=FtZ6vR3J ... ature=plcp