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Invisible oscillation (sometimes D term oscillation or yaw oscillation) generally cannot be seen or heard.  One way you know you have it is that all throttle stick positions can act as if they were closer to the middle.  Another way you know is if you have two FMS positions that use different PID banks (and manual thrust), and one set of PIDs has significantly lower D term terms (or a lower yaw PID) and you are hovering and switch from the high D one to the low Dother, you may notice that you need to add power to maintain altitude.  Increased thrust from the high D term / high yaw PID is caused by the ESCs being commanded up and down and being quicker when increasing RPM than when decreasing it.  You may find that motors tend to run hotter and batteries don't last as long as they should.  Powerful copters (those that require less than 50% power to hover) will take off with much less throttle than expected.  Weak copters (those that require more than 50% power to hover) will need more power than expected to take off, or will not take off even at full power.  Try reducing your D terms (Stabilization -> Advanced), reducing your yaw PID, or increasing (doubling) GyroTau (GCS -> Configuration -> Stabilization -> Expert - > Gyro Noise Filtering), but realize that increasing GyroTau requires rerunning the AutoTune flight and will make AutoTune create very slow smooth PIDs.

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Multicopters fly better if they have "Light Damping (BLHeli)" or "COMP_PWM + MOTOR_BRAKE (SimonK)".  Without these, when there is a lot of stick control (or oscillation) happening, the copter tends to climb because the motors speed up more quickly than they slow down.  With slow or undamped/unbraked ESCs you may notice this when AutoTune mode starts shaking the copter.

AutoTune is not currently supported on CC3D.   , although it is hoped that a CC3D firmware can be made that removes other features to add AutoTune.  This would be flashed temporarily just to run AutoTune and then normal firmware would be reflashed.  Also, there will be a GCS GUI for all this at some time, but it was designed to make it possible to set it up at home and be run it at the flying field without requiring use of the GCS at the flying field.

Currently you must be able to compile LibrePilot software / firmware yourself to be able to use this.  The pre-release source code can be found at: https://bitbucket.org/librepilot/librepilot/branch/next

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