I'm having a successful time tuning my first autopilot on the 787.
I've managed to get rid of the "jerks" and wobbles, mainly by using a
"noise-spike" filter with <max-rate-of-change>. That thanks to Syd
Adams for that wonderful tip.
All flight level changes, and NAV, heading can be tuned very well, at
the current tuning speed of 250 knots.
However, at lower and higher speeds, the behaviour changes, sometimes
significantly.
So it it possible to have two different PID/configs's operating at
different airspeeds..
eg in psuedo code
<config>
{if getprop("airspeed") < 150 }
<Kp>0.07</Kp><beta>0.5</beta>
{else}
<Kp>0.06</Kp><beta>0.3</beta>
{if}
</config>
Hope it makes sense..
pete
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