Let's take a look at what low and high PIDs do. This will give you a perspective on what to change when your copter is not behaving the way you want it to behave.
In this video, I discuss the Yaw P Term. The yaw axis doesn't have enough authority to really oscillate like pitch and roll, so you have to tune it a little bit differently.
---
Watch all the videos in this playlist here:
---
This playlist will culminate with my 1.5 hour PID Tuning Masterclass presentation at the NYC Drone Film Festival on March 18, 2017. (Note: the presentation will be March 18. The video will be uploaded some time later.) In the mean time,
The copter is running Betaflight 3.1.5. The copter is the AllcarbonRC Coyote.