Hi,

There is a lot of tutorials about blackbox pid and filter tuning online, but what most of them miss is that they explain how to tune using a blackbox, but not what a good tune has to look like in a blackbox. So for someone with limited tuning and flying experience it's hard to say whether I have reached any progress or not. Ok I did some tune and can see the noise spectrograph, but how do I know if I just started or reached the tuning limit?

What is gyro debug graph for a "clean" or "noisy" build?
Is my d term filtering sufficient or not? It shows some noise but how do I know if this is already "too much noise" or is it acceptable to increase D-term even more? 
Same question for the motor graph - I just don't understand if this is good, bad, or just leave it as it is? The 'warm motor' test don't seem very scientific to me, if we have a blackbox...

Could you show any good examples of the above, so I have an idea where am I in the filtering and pid tuning process.

Thanks!