adelphysi:
i consider it acceptable because it stays (stable) in flight that is not a view point
...
if it is flys well and stable and works as the one of (standard PID ), where is the problem?
why to consider a non-happening problem as it happens !?
If you want to stop there that's up to you and it's great what you've made. But if you want to improve it (and I think you should be able to achieve significant improvement based on the video you showed) then you would almost certainly need to change this approach.
Don't forget that you asked for a discussion!
adelphysi:
random faults means the bad signal caused by noise and electrical disfunctionality or human bad interference
On the subject of non-happening problems...have you observed that any of these are actual problems? It would be simple to put some checks on your radio input to make sure it makes sense, and apply some limits if necessary. You should probably be doing this anyway.
I don't know what human bad interference could possibly be! (Someone steals your transmitter?)