HOW TO MAKA FLIGHT CONTROL WITH ARDUINO AND MPU6050 SENSOR

excuse me sir
I want to make a quadcopter using arduino and mpu6050 sensor , is there any tutorials or drawing layout to make the flight control ?
I never use multiwii but the result is very bad flight , can not be stable and hard to control .
is there any way or program that can create such stable quadcopter fly with DJI Naza
I really need help from the master here
thanks