PID controller & Accelerometer & Brushless motor

Please i need the Arduino code for this project

Am using ESC to control speed and gy-81 as feedback to control position

Hardware is:
Arduino uno,
GY-81 (10dof)
30amp afro esc
1000kv brushless motor

Do not double-post.

Duplicate posts deleted.

Do not cross-post, cross-posting wastes time.