3dr hex copter stabilize issue

Whenever im in stabalize mode with the arducopter autopilot it is extremley slow to react. It also stops it self from tilting past a certain point so if there is any wind I cant even correct for it. It wont drop a side enough to move against the wind. What paramters do I need to change? Also while just hovering the copter will be fine and then all of a sudden dip an arm and start moving in a direction and losing altitude. Im still flying low to the ground because of these issue because I cant really control it. When using the telemtry hooked up to a friends laptop I can fly it just fine. We cant seem to figure out the issue. I thought the parameters were stored on the arducopter autopilot? Help me! This is a lot of money I cant get higher than 5 feet from feer of it just going off on its own.

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