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Tilts too fast - reduce the respective axis turn speed.
Shaking with control surfaces - reduce the respective axis PID sensitivity.
Kicks back after yaw turn - reduce the PILOT SEAT yaw axis sensitivity or microcontroller yaw PID sensitivity.
Constantly pitches up or down - adjust the MICROCONTROLLER PITCH TRIM. Do not change the pilot seat axis trim because its nonzero values disables the automatic orientation hold. also i copied it from description