I'm having a very hard time tuning PID's. Frame is a MK50 with KDA 20-22L and 10x4,7 APC's. Frame, motors and props are leveled. Nevertheless, pid tuning is very hard to tune. I followed the updated troubleshoot on the wiki. Increased D for R&P but that was to unstable. SoI lowered it until the quad was stable in leveled flight. But still some small nodges from time to time. When fly around a…