Bit of a general consensus post really...
I'm doing PID tuning today, and it's 20mph winds. The thing is bouncing around all over the place even in loiter, and I'm not sure if it's the rates or the wind. :-)
What's the max wind you will fly in? Did you tune RATE I to improve it, and how does I tuning actually help?
What can I tune to improve loiter in strong winds?
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or this...