Lowered P Gain to .1 to get ahead of the oscillation. Not sure just how much oscillation is acceptable. I'm sure none is best. Set I and D to zero. Increased P gain until it started oscillating. Axis did not noticeably oscillate, just the plot.I had previously been looking for the axis to go into wild movements back and forth. Backed off P gain. Increased D gain until I saw slight oscillation on the plot, then backed off. Increased P gain more, then D gain. Added I gain. Added Feed Fwd. Tried many combinations. The following is where I'm at currently. Open to suggestions.