"Sorry to jump into this conversation so late, and I too was not able to see the video so this may be of no help.  but how old are your servos?  I had a similar problem with servo twitch and even though I was using digital servos they were pretty…"

"Anthony:  that makes sense but why would the yaw wobble kick in after increasing the rate p for pitch and roll?  when the pitch and roll rates are very low there is no yaw wobble and the bird flies.  shouldn't the yaw wabble occur indipendant of…"

"What works really well is to have your transmitter in heli-mode but turn off the CCPM.  IIRC this is called H1 on a Futaba.  that will allow you to have a single channel for each servo, which is what the APM is looking for, but still have a throttle…"

"good point about load feed forward.  what are the chances that the APM can handle the governing it self?  if we are going to be sending it rotor RPM and we are already sending throttle signals thru the APM.  it shouldn't be too much extra code to…"

"Robert,
I remember when you started that (must have been about a year ago).  I've come up with something similar a stand alone arduino to do the control loop, i haven't gotten into the APM code yet to figure out the comm piece.  but like i said i…"