i try the new firmware in acro mode and my arducopter roll to left so much and i can't take off.
when i try to fly in stable mode it fly very well but i think i must correct the acro mode stability.

any suggestion?

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We're going to remove Acro mode. It's too hard for most people to tune and is more trouble than it's worth. 

so i must set the pid only in stable mode? i see that my I and D value for "rate pitch" and "rate roll" are both to 0.0

I must increase it or i must increase the P value first?

thanks for reply

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