QAV250 Loiter Tuning Revisited - Tips for Tuning 250 Size Frames with Pixfalcon & APM Controllers

First off, a huge thanks to Leonard Hall for talking me through this process over Skype. I wanted to share what Leonard shared with me, but in much condensed form. You can follow Leonard here:
Previously I've covered manual tuning here:
and autotuning here:
If you watched my previous video on Pixfalcon setup I ran into a problem when switching into Loiter mode. In this video I cover the steps that Leonard shared with me to get Loiter dialed in. So far the results have been nothing short of amazing.
The key for my setup was realizing that IMU1 was not consistent and the source of my troubles. The steps covered in this video are:
1. Diagnosing whether or not you have an IMU problem. You'll know this if your copter shoots up or acts erratically when switching into Loiter mode.
2. Manual tuning of rate pitch/roll D gain
3. Manual tuning of rate pitch roll P gain
4. Autotuning each axis independently
Here is the param file that Leonard sent me and was the basis for my tuning:
and here is my full parameter list after tuning and getting a very stable loiter:
I hope this video helps and please feel free to post any questions or comments below.