What's your hit radius? Do you have telemetry? It would be good to use the HK GCS and see the replay.
That does sound big. Ours are just modded like this:
Still having problems despite an additional 30 test flights! (Where I get the patience from I have no idea, but may lose it soon...)
This is about the best I can get! See GPS path below.
Changing 'I' and 'D' doesn't have the expected effect almost as if they aren't actually working (tried ranges: 0.01 to 1.2).
Under manual control the plane turns equally both ways, under AUTO plane turns right 4x more aggressively than left.(compare orange turn to light green turn!)
Cannot get rid of zigzags visible in the red-to-orange and green-to-blue track section in the image below.
Light green through purple sections below show erratic course deviations despite higher 'P'