Just tuning my CC3D as it stands the inner loop has a pitch back tendancy once i add I, and without the I it tends to pitch forward, but i have to do minimal corrections to keep it hovering so im happy.
In the outerloop it hovers just find with a tiny tendancy to pitch back, no problem i will adjust the accel bias before tuning Outer any further.
Current settings:
Inner: 35-35-35
75-75-35
Outer: 20-20-20
00-00-00
Going to tune outer some now and see where i can get to.