Finished first manual pid tuning and have quad flying fairly well. Altitude hold is cruising fairly well also. In position hold when loitering at the 5 m/s and let off the stick the transition from loiter to endpoint holding is very abrupt and it shakes the quad up pretty good. Excellent stopping and position hold I have to say but let say I want it to kind of slide into a hold rather than just lock up dead on the spot what would be the parameter to adjust? I have looked at the printed parameter list as well as tweaked a few things but don't feel I am working with the correct parameter yet. Any advice? Thanks.