The tune of pid parameters

1

http://logs.uaventure.com/view/gHSpgrgaGtPxfntuW2rrX7

Hello guys. The above link is the log analysis of my tail-sitter fly plot. There have been some problems puzzling me for a long time.

  1. How to tune pitch parameters? Because there is always an error between pitch angle setpoint and estimation.
  2. The yaw angle is always vibrating near the setpoint? Is the yaw P and yawrate P too small?

Any advice will be very helpful.