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PID conversion from pre 1.2 to 1.2
With INAV 1.2, PID scaling and default values has changed to match Cleanflight/Betaflight LuxFloat and MWRewrite PID controllers.
When migrating from pre 1.2 to 1.2, use following conversion:
INAV 1.2 P_gain = Pre_1.2_P_gain / 1.3
INAV 1.2 I_gain = Pre_1.2_I_gain / 2.5
INAV 1.2 D_gain = Pre_1.2_D_gain / 2.1
INAV 1.2 LEVEL P = Pre_1.2_LEVEL_P / 6.1
I (LowPassFilter cutoff frequency) and
D (Horizon transition point) did not changed.
Or use this Google Docs spreadsheet to recompute tune from INAV 1.1