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Hello,

 I'm encountering some stabilisation problems with my custom quadcopter. My algorithm use classical PID for changing PWM signal to motors. Problem is I can't find satisfying P, I, D parts. My quadcopter is either oscilating at high frequencies or taking too big overshot.

 I'm using DJI e300 propulsion set, Arduino Uno as controler and MPU6050 Acceleroemter+Gyro. Frenquency of updating PWM is 100Hz (it's limited by arduino 16MHz CPU).

 Can somebody help me pls?

Thank you