Multicopter R/C Technology recommend that the gains are a good starting point to investigate if you are experiencing any problems with your drone. Here are some common troubleshoot methods:
* If you are flying a new drone without a camera or gimble; the gains may already be too high.
* If you have a light disc loading (light weight multi-rotor) you may be over-propped.
When this happens, it is more difficult to correct the gains.
* If it does not oscillate: gains are set too high
* If it wobbles on decent: gains are set too low.
* With a heavier disc loading (heavier Multicopter) you have a
wider variance of gain settings of which the aircraft will fly well in.
However, keep in mind it will always have a slight wobble upon fast descent,
regardless of how your gains are set; as you are flying through your prop wash.
It is not recommended to descend too fast or at an angle.
The attitude gains control how the aircraft reacts to stick movements. High gains
will react fast (overreacts), and low gains will react slow. The lower gains
are similar to adding expo to a traditional transmitter.
Basic gains are how your multi-rotor levels itself, and the attitude
gains are like stick sclaing. If using the Naza software; there is a loop.
In short- there are two sets of values:
1) How the multi-rotor actually is (in position and angle)
2) How the multi-rotor should be (according to your stick inputs)