Tuning the Vstabi tail/PID loops

[Flybar-less]

I have found that if the I gain is too high the tail will gently wag in a crosswind hover, as well as oscillate slowly in 3D manuevers. Current tail setings for the PID are P90, I30, D25, and an overall gain of 85. So if I raise I to 35 (a recomended value) it slowly oscillates. This make sense to me because the I component is the slowest part of the PID, and 35 must be too large of a time value in my particular setup. Many PID loop tuning docs suggest starting with P&D, whereas Vstabi recomends starting with the P&I side first. The only other setup I have seen using much D is RVs.

Anyone want to jump in on optimizing the PID?