Update config.c #3
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Correct the PID_YAW settings to fix the yaw washout issue
Lowered I-term on yaw
Added correction for dynamic idle
Further reduced dynamic idle to increase stablity
Final Tune - found a good middle ground on dynamic idle - increase feedforward on yaw for responsiveness
Discovered the dynamic idle was never intended to be on, introduced an override. This should disable dynamic idle and return the motors to static 8% idle.
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Correct the PID_YAW settings to fix the yaw washout issue and improve flight, as well as disabled dynamic idle.