Just hot of the Youtube, a PI Tuning guide from Kaptein KUK, the inventor of the KKMulticopter Board. I'm not sure what board he's actually using for this tutorial, since the KK Board doesn't have PI tuning, but just using simple potentiometers for adjusting gyro gain.
The concepts are…Continue
I changed the attitude control loop a little bit to achieve more stability. Rate control with a PID(T1) instead of a PI controller. Here I present the necessary changes in the code to do this.