MC PID Tuning Cookbook: Add pre-conditions (Step 2)

en/config_mc/pid_tuning_guide_multicopter_cookbook.md

@@ -53,6 +53,14 @@ If you don't set any value, the default will be `0.0`, which assumes linear rela
 
 ## Step 2: Pre conditions
 
+Before you go on any further, make sure the actuators outputs are correctly mapped. This can be done by going through the [output assignment](../config/actuators.md#output-assignment-and-configuration).
+
+Make sure that the motors order and direction of rotation as as expected! With a wrong motor assignment, the PID controller can output undesirable results (e.g. Drone flipping and crashing).
+
+### Motor Tilting for Yaw Authority
+
+Furthermore, it is recommended to [tilt the rotors](./mc_motor_tilting_for_yaw.md) to increase the yaw control authority. Especially if your vehicle is very large (with high moment of inertia around yaw-axis).
+
 ## Step 3: Rate control tuning
 
 ## Step 4: Attitude control tuning