I've added 40% Expo to my MX-20 and my bird (CS6) still seems a bit twitchy. Anybody drop there Stick P and D to lower numbers with good results? Default P = 6 Default D= 10 I don't like messing with these PID things much. Makes me nervous, not knowing exactly what they do. Goes back to the MultiWii I fooled with endlessly and still couldn't get good stability. Thanks, and Merry Christmas!