i have a quad with apm2 and fw 2.7.1 but i don't know where to install the optical flow. In the center of quad or i can install under one of the arm? i read that pins must be forward but don't know the position. After enabling it in mission planner i get oscillation like a high Stabilize rate P, but if i disable i get stable without oscillation. Are there pid tuning for optical flow?