I built a new frame and put my second power system i owned so this cost me to build only 20$ because all parts were recycled from my crashes. And i have been getting bad flight times 10-13 min of just putting it into hover with no flying around.
The best i know of is in a game ARMA 3 which is a military simulator which includes flight physics I included screens shots of the available modes. It simulates video fpv resolution
So i have been flying my quad manually for the past week and had the PIDS tuned out and the gps and external compass placed in different corners everything was working fine i even had the previous flight where the loiter worked like a charm stayed in