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hi even if you upload another FC firmware won't work since , firmware is calibrated on dynamic model... and need to be concurrent with the physical object you are dealing with. other suggestions: 1) i strongly encourage to go back to Madgwick since he works with quaternions and avoid some...

It seems more a programming problem, than a structural problem, your quad is not correcting errors how it should... seems very slow doing that, and he seems missing D component in PID. what frequency are you running your PID ? how did you set up your K gain values for your PID? what algorithm...