Hi everyone, I am rather in experienced with PID tuning and PID in general, and need some help. I want to tune PID for a model rocket I built with active fin stabilization, and another one with a gimbaled motor. I want to know what is the best way to tune the PID, and what experience anyone has with tuning PID. I have looked into drone PID tuning, but it was just flying your drone around and tweaking it depending on the drone’s reactions. I wouldn’t want to fly a rocket a ton of times to tune it every time I built a new one (would be expensive too LOL). The method I was thinking of building a simple rocket and buying a bunch of motors, then tweaking it until I reach a good PID value. Then I would proceed to measuring the Mass Moment of Inertia of the rocket, and from there getting a PID value to MOI ratio. Would this work? And does anyone have or know any better ways? Lastly, I would like to mention the Integral value. If the rocket is sitting on the pad, the I value would only see a rocket at standstill. Then when it launches, probably the system would go crazy. So the trick I was thinking of was a pad system that would boot up the flight computer maybe 30 seconds or so before liftoff. With proper tuning is this even necessary? Thanks for all your help! Everyone here is so helpful and amazing.