Nastawy regulatorw PID
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IdlePWM = 1250 us
HangPWM = 1490 us
MaxPWM  = 1900 us
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Roll rate PID
kp = 0.037
Ti = 0.000 s
Td = 0.002 s
Df = 0.050 s
Il = 40.0 %
SP = 90.0 /s
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Roll angle PID
kp = 1.725
Ti = 0.218 s
Td = 0.029 s
Df = 0.050 s
Il = 10.0 %
SP = 45.0 
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Pith rate PID
kp = 0.040
Ti = 0.000 s
Td = 0.001 s
Df = 0.050 s
Il = 40.0 %
SP = 90.0 /s
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Pith angle PID
kp = 1.700
Ti = 0.218 s
Td = 0.029 s
Df = 0.050 s
Il = 10.0 %
SP = 45.0 
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Yaw rate PID
kp = 2.000
Ti = 0.500 s
Td = 0.001 s
Df = 0.300 s
Il = 30.0 
SP = 90.0 /s
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Yaw angle PID
kp = 1.000
Ti = 2.500 s
Td = 0.010 s
Df = 0.500 s
Il = 20.0 %
SP = 19.0 
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Alti rate PID
kp = 12.000
Ti = 0.000 s
Td = 0.030 s
Df = 0.600 s
Il = 40.0 %
SP = 4.1 m/s
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Alti PID
kp = 12.000
Ti = 0.200 s
Td = 0.050 s
Df = 0.400 s
Il = 40.0 %
SP = 20.0 m
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