I've mostly given up tuning my nav pid... I have no telemetry yet and my ardupilot isn't very easily accessible, so trial and error is very tedious, and I've never seen D explained in a way I could understand it.
My plane flies to waypoints, but it does not come anywhere close to tracking along the centerline of my runway, so I am very afraid to try an autonomous landing. Part of my goal for my project is a reliable auto T/O and landing on a runway in a reasonable crosswind.
Does anyone have a guide to tuning the NAV PIDs? I've read the wiki, it has a very brief section on it that doesn't seem to contain a coherent procedure.