Videos are blocked. Sorry, I'm not your facebook friend...
which ESCs do you use?
the second fly looks controllable, lower the I term (I would try this)
"Gyro Smoothing" is from Aeroquad, you don't need this on Arducopter
sorry, but I can't explain it (ok I can, but nobody would understand it^^)
It is pretty good explained here:
I explain it as it tries to hover (so no RC commands in this example)
P is proportional -> the farther it is away from level, the more is it trying to go back to level
I is integral -> it adds up the error (so it will become more stronger if it can't go back to level)
D is deverative (I don't exactly know its meaning): this is the amount of dampening (it breaks before level, so it does not overcompensate)
afaik in stable mode the D value in configurator is in fact another P value (but I don't know it's use)