I've posted a high res (5.9 MB) and low res (1.9 MB) QuickTime of the tuning process on our Bergen Observer. We ran out of time to fully smooth out all the oscillations and enable the collective control due to a tropical storm that moved in over Charleston, SC.
On the Nova we have position tuned to +/- 30 cm and altitude tuned to +/- 20 cm. The Observer is a bit more "pitchy", which is causing it to drift forwards and backwards. I'm hoping to get the CCPM code working with the JetCat mechanics soon and try tuning it on a turbine.