Hello. I've built a completely own quadrocopter and written my own software for it by following multiple guides on the internet. More info about the quadrocopter including the hardware and software can be found on this github project: https://github.com/Quarduino/quarduino
I'm now having problems with tuning the PID controllers. I've followed videos on youtube and other tutorials about how to tune PIDs for a quadrocopter but I'm not getting the same results. I started with tweaking the p-value but could not get the quadrocopter to be as stable as it's supposed to be and I've tried values raning from 0,0001 to 20 where the lowest value didn't stabilize at all and the highest made it tip over immediately. Because of this, I started tuning the d-value and it got a bit better but it's getting worse after a couple of seconds of flight.
Here is a video with the best settings I could get, P=0,5 and D=0,5: https://mediacru.sh/D-ew_2RycgZO. When changing the i-value which is supposed to prevent the quadrocopter from leaning at a constant angle, it leaned even more. I suspect this is because the gyro may "think" it's always at an angle due to vibration.
Does anyone know anything more I could try to do? Or could this be caused by too mutch vibration?