Nastawy regulatorw PID
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IdlePWM = 1220 us
HangPWM = 1438 us
MaxPWM  = 1900 us
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Roll rate PID
kp = 0.140
Ti = 0.000 s
Td = 0.006 s
Df = 0.040 s
Il = 20.0 %
SP = 60.0 /s
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Roll angle PID
kp = 1.200
Ti = 0.027 s
Td = 0.054 s
Df = 0.050 s
Il = 10.0 %
SP = 35.0 
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Pith rate PID
kp = 0.140
Ti = 0.000 s
Td = 0.006 s
Df = 0.040 s
Il = 20.0 %
SP = 60.0 /s
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Pith angle PID
kp = 1.200
Ti = 0.008 s
Td = 0.050 s
Df = 0.050 s
Il = 10.0 %
SP = 35.0 
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Yaw rate PID
kp = 10.000
Ti = 0.070 s
Td = 0.017 s
Df = 0.030 s
Il = 20.0 
SP = 90.0 /s
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Yaw angle PID
kp = 0.100
Ti = 0.000 s
Td = 0.000 s
Df = 0.005 s
Il = 0.0 %
SP = 180.0 
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Alti rate PID
kp = 22.000
Ti = 0.000 s
Td = 0.100 s
Df = 0.060 s
Il = 60.0 %
SP = 4.0 m/s
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Alti PID
kp = 22.000
Ti = 0.090 s
Td = 0.100 s
Df = 0.280 s
Il = 30.0 %
SP = 20.0 m
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