First, I don't understand why you have these tips.
Last code changed the data layout, so the tip data should be resetted.
And the new defaults don't include any of these tips.
Reset, and if it still does that, start with the pid. Ki kd to 0 and start from there. Search how to tune pid... But the values are the same.
About the menu, yes, I had done that. But caused some bugs, then removed the settings screen, then reverted that...
I will restore that too, but when it works correctly