4S on a 3DR Y6 - yaw tuning help

Last week I received 4S batteries and have been trying to tune the PID's on my Y6 for it. I am hoping some of you who are using 4S batteries can share your params so I can compare. I started with the params file posted on the 3DR site. http://3drobotics.com/?attachment_id=750


I'm having a hard time getting away from a 'twitchy' feel, and also having a weird problem when I'm flying where  YAW oscillates slightly back and forth. if a gust of wind hits the copter, it does not smoothly adjust, but instead twitches a bit before coming stable again. As you can imagen this makes it impossible to record video.


what values should I be focusing on? I've tried changing the stabilize yaw value, and the rate yaw P, and they seem to have no effect at all while I was hovering - I used the max/min value range listed in the wiki. I'm using the chan 6 nob in flight tuning method. so frustrating :|


Here's a video - i'm not inputting any yaw commands; you'll see the Y6 tries to make corrections constantly. https://www.youtube.com/watch?v=cjVNJ-Igig8


Any help or input would be greatly appreciated!




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