This article helped me understand my idle settings
 

just thought i would share this article on PID Control devices.

Understanding Derivative in PID Control - 2010-02-01 07:00:00 | Control Engineering

I'm still working on mine. Here's what mine does with the PID settings of 2, 5 and 2:

http://sites.google.com/site/timkent...-loop-idle.png

Oscillation FTL. I'll try zeroing out D and fiddle with the other two.

wow, that is awesome...

Ya, try a bit more tuning