MartinL:
The MPU6050's Digital Low Pass Filter can be set in its configuration (CONFIG) register.This is detailed on page 13 in the MPU6000 and MPU6050 Register Map Document: https://www.invensense.com/wp-content/uploads/2015/02/MPU-6000-Register-Map1.pdf.
Oh that is very interesting, there is allready a filter used in the code to reduce noise, so that's not my case. I just found that i have to calculate the correct PID values in order to have a more stable quadcopter. Does anoyone knows any other advice or tip on how to make a perfetly stable drone ?