Great idea starting this discussion, thanks! Posted this in the forum then notice this section. So I'v been really happy with my build and my APM.  The stock PID's seem to work pretty well with my build.  I did notice my yaw movement is a bit slow.  I have 28" motor to motor arms (710mm I think), the 3D Robotics is a little less then 25".   I would like to adjust my Yaw "P" and "I" to compensate for my longer arms and have more thrust.  Being a fixed wing pilot yaw is not my strongest attribute, I am noticing multirotors need yaw input all the time, need some time on the flight sim.   As I understand it (and I really don't) I need to lower these numbers to increase thrust (decreasing gain increases thrust).  Would anyone happen to know a good starting point for PIDs on this airframe?Thanks for any help anyone might lend.  

KDA 2022   924kv  (4)

3 amp 20c lipo

APM