"Yeah this is unfortunate for us Nicolas. I also realised that although I have done my mag calibration, when I turn the motors on yaw drifts about 20 degrees. And once I shut the motors down, yaw angle drops down to where it has to be. Ok this is…"

"Hi Fatih Senkul,   I tried but I not received the answers to my questions. :(   "

"Hi Nicolas,   I am wondering exactly the same issue. Have you received a valid answer for this? Because I am using the sensors: ITG3200, ADXL345,HMC5883 and still can not find the proper kp ki values for pitch&roll and yaw. I have used some…"

"Thank you Bill for your help!  :)   Do you know a different  technic to find the best kp and ki for a DCM? My goal is to understand how work a Direction Cosine Matrix.   And for the Kp and Ki ArduCopter technic, I'll try to…"

"Hi Nicolas, I will try to answer a couple of your questions. Regarding different kinds of gyroscopes, you can use the same values of Kp and Ki in the drift feedback controller. Of course, you do have to use different gain factors to convert the A/D…"