Hi Zzr.
That is a tough question, as every acft is like snow flakes, no 2 are exactly the same.
I don't have a Naza, as you have read, but my WKM is performing flawlessly and I couldn't be happier!
The trick is to not be afraid to up the basic gains.
I'm currently at;
pitch = 160
roll = 160
yaw = 165
vertical = 155
attitude pitch = 160
attitude roll = 160
Current performance is rock solid without any wind, and just a tiny bit of under compensation in high wind conditions, as it does get pushed around a bit in high winds.
I could tighten it up more to fly locked on like a rock in high winds, but afraid the calm wind conditions would suffer then. I don't have the ability to trim gains with a dial set up as I am using the WKM gimbal control at the moment. So, I have it dialed in thru gains in assistant to give me the performance I desired over a wide variety of conditions.
During testing, as I increased the gains, I noticed the stick movements on my tx were becomming more sensative. I was using 30% expo and just increased it to 40% to get the same 'feel' thru the sticks I was comfortable with. Worked a treat!
Other things I have learned, choosing props. The right props are not the most expensive ones. I discovered that when I ordered a set of Graupner's. The flight performance degraded when I installed them.
I took them off and am currently running just a cheap set of Gaui props and couldn't be happier.
Thin props, like the Graupner's need to run more rpm or be sized a little larger, and then I'm sure they will be fine, but for now I'm just letting them collect dust as they are now my back-up set.
In all, I have about 60 flights on her now, and am a happy as can be!
Now it's time to get cleaned up, load everything up, go pick up my buddy and head off to do some flying/filming!