"OK, but MissionPlanner does not allow Yaw D be less than 0.01 (or 0.001, don't remember exactly). So I will set it to the possible minimum.
RATE_PITCH_I = RATE_PITCH_P x 0.1 as well as a start point?"
"Hi, I failed with autotune (ran out of battery trying to tune one axis, 11 minutes). Then I decided to do it manually, but to my surprise i got no oscillations with p=0.35 and no oscillations with d=0.025.
Should I proceed with higher values for p…"
"Both are exactly the same, checked twice. And I pressed this buttion in Mission Planner "Enable OSD Telemetry". And Flight Mode does pass to both OSD and SPort. Is it different from other MavLInk messages?"
"Yes, I ordered both versions to play with and they both work (with 5v power provided). At least, they pass Flight mode to my Taranis. Today I'll try to flash latest Wolks' firmware (hope there's enough memory).