One Nine Zero - Freestyle

Went for some evening freestyle and playing with latest cleanflight 1.9.0 on my mini h for final tune and the PID1 is so locked in now. Setup: - Blackout Mini H 5Inch (220 version) - Cleanflight Beta - Naze32 acro rev5 http://www.multirotorparts.nl/electronics/flighcontrollers/naze32-acro-flightcontroller-rev5.html - DYS SN20 http://www.multirotorparts.nl/electronics/esc/dys-sn20a-esc-blheli.html - Cobra 2204/32 2300kv http://www.multirotorparts.nl/motors/cobra/new-cobra-2204-2300kv-multirotor-editie-met-vaste-adapter.html - HQProp 5x45 bullnose http://www.multirotorparts.nl/propellers/5-propellers/hqprop-5-x-4-5-glasvezel-versterkte-bullnose-propeller-set-van-4-groen.html - Sony PZ0420 Sony SuperHAD 600 FPV camera - 4S 1800mAh Nanotech - Fatshark Dominator V2 - Immersion 5.8 600mW vtx http://www.immersionrc.com/ - Frsky Taranis w telemetry D4R-II http://www.multirotorparts.nl/electronics/rc-zenders-en-ontvangers/frsky-taranis-x9d-plus.html - Gopro Hero4 Black Settings: Blheli Settings: blheli 13.1 https://dl.dropboxusercontent.com/u/31537757/SN20.jpg Naze32: set rc_rate = 100 set rc_expo = 70 set rc_yaw_expo = 35 set thr_mid = 50 set thr_expo = 0 set roll_rate = 60 set pitch_rate = 60 set yaw_rate = 95 set tpa_rate = 50 set tpa_breakpoint = 1400 yaw_jump_prevention_limit=300 set pid_controller = 1 set p_pitch = 55 set i_pitch = 30 set d_pitch = 30 set p_roll = 40 set i_roll = 20 set d_roll = 30 set p_yaw = 135 set i_yaw = 65 set d_yaw = 1 set p_level = 20 set i_level = 20 set d_level = 150 set looptime=1500 feature ONESHOT125 set min_command = 1000 set min_check = 1020 set min_throttle = 1080 set pid_at_min_throttle=1