Nastawy regulatorów PID
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IdlePWM = 1100 us
HangPWM = 1490 us
MaxPWM  = 1800 us
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Roll rate PID
kp = 0.550
Ti = 5.000 s
Td = 0.028 s
Df = 0.005 s
Il = 10.0 %
SP = 60.0 °/s
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Roll angle PID
kp = 6.700
Ti = 5.000 s
Td = 0.000 s
Df = 0.030 s
Il = 20.0 %
SP = 22.0 °
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Pith rate PID
kp = 0.550
Ti = 5.000 s
Td = 0.035 s
Df = 0.005 s
Il = 10.0 %
SP = 60.0 °/s
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Pith angle PID
kp = 6.700
Ti = 5.000 s
Td = 0.000 s
Df = 0.030 s
Il = 20.0 %
SP = 22.0 °
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Yaw rate PID
kp = 2.500
Ti = 0.000 s
Td = 0.020 s
Df = 0.020 s
Il = 20.0 
SP = 60.0 °/s
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Yaw angle PID
kp = 5.000
Ti = 0.000 s
Td = 0.000 s
Df = 0.050 s
Il = 25.0 %
SP = 30.0 °
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Alti rate PID
kp = 30.520
Ti = 10.000 s
Td = 0.600 s
Df = 0.005 s
Il = 20.0 %
SP = 2.0 m/s
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Alti PID
kp = 10.000
Ti = 0.000 s
Td = 0.020 s
Df = 0.050 s
Il = 28.0 %
SP = 22.0 m
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