"Hey Randy,

Interesting, I have a 3DR GPS/Compass combo on the heli but that didn't seem to be getting good readings so I switched it over to the Pixhawks internal compass and tried that.  Neither really worked well and I don't know why, no matter…"

"Hey Rob,

Thanks again for such quick replies.

Never really looked into the Rate_Pit_FF and Rate_RLL_FF in the Full Param list.  I just looked and my values for FF  for both were zero and upping them to half my P values definitely increased…"

"I'm using a Spektrum DX8 transmitter so I have the throttle plugged into channel 8 and I believe I mixed the AUX3 channel (which is channel 8 on my remote and is a knob at the top) with the the throttle stick in the mixing menu and that worked for…"

"Hey Rob, 

Thanks again for all the great information.  I think you might be on to something.  I think it may definitely be attributed to head speed, especially since when my battery starts to get very low (I know I should stop testing before this…"

"So I've played with this COLYAW value tonight and I am having no luck with it locking my tail in place during throttle increases.  I've moved it all the way up to 30 and -30 (which should be way overkill) and all values in between and all it seems…"

"Ok, no problem.  I guess thats my other problem, I'm running APM Planner v2.0.8 and I don't think I have the heli setup screen that everyone talks about from prior versions, unless you know otherwise. 

I just varied the values for COLYAW, which is…"

"Interesting, is Collective Compensation called "H_COLYAW" in the parameters list? Have you played around with this yourself yet? the description says the value can be negative or positive depending on setup, I guess I will try both if this is the…"

"Wow! Randy you are right, HS4_REV reversed the gyro only! This is exactly the setting I was looking for.
Whats also interesting is that I don't have a heli setup section like in that link that you provided, I am running APM Planner 2.0.8... 

Thank…"

"Right, so I don't have an external gyro, just the rudder servo. 

So even when I have the settings so that the green bar moves right, it arms when I hold the stick right, and it yaws right when I turn right, the gyo still sends it into an endless…"

"Hey Randy,

Thanks for the quick response.  Yep, I've made sure that the yaw moves the green bar right and changed the values between 1 and -1 in RC4_Rev but all that does is reverse the direction of the servo when I move the yaw stick on the…"