Oscillations when navigating waypoints in HIL sim (Flight Gear, APM1, APM planner)

Hi. I just got HIL sim to work on my APM1. I use APM planner 1.1.80 and Flightgear 2.6.0.

I have some oscillation as can be seen below:

Here are my gains

Do you have a preffered way of tuning the D and I factors? I would like it to hit the WP, turn shar

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