I think you found the best solution for your goal of roll and pitch. How often do you sample? Have you worked on altitude hold yet? The yaw will drift without a compass. Do you have one connected? How did you choose tour tuning variables?
I think you found the best solution for your goal of roll and pitch. How often do you sample? Have you worked on altitude hold yet? The yaw will drift without a compass. Do you have one connected? How did you choose tour tuning variables?