Hi! Im trying to adjust my MK up to perfect!! I found this page but I find some hints a bit confusing.. Ex. 2) To set Gyro-I (like P) and Gyro-P (like D) - I started with Gyro-P at zero and Gyro-I at 60 if possible put both on Potis so you can change values in flight. If i set P to 0 and I to 60 the little punk is all over the place so I dont know how he ended up with Gyro-I at 150?? heres the page http://www.technotragic.com/index.php?option=com_content&view=article&id=19&Itemid=71&limitstart=4 As for my setings they are now P 100 I 100 D 13 and it flys good but the ocasional woble when in forward flight.. Hover is very good.. Alex