current d=13.0



suspect
p = 1.2
i = 0.01
d = 12.0


pid_p_gain_roll = 1.1000
pid_i_gain_roll = 0.0050
pid_d_gain_roll = 10.0000

looks ok
pid_p_gain_roll = 1.1000
pid_i_gain_roll = 0.0050
pid_d_gain_roll = 9.5000

looks better
pid_p_gain_roll = 1.1000
pid_i_gain_roll = 0.0050
pid_d_gain_roll = 9.6000

more better
pid_p_gain_roll = 1.1000
pid_i_gain_roll = 0.0050
pid_d_gain_roll = 9.7000

more more better
pid_p_gain_roll = 1.1000
pid_i_gain_roll = 0.0050
pid_d_gain_roll = 9.7500

slightly more better
more more better
pid_p_gain_roll = 1.1000
pid_i_gain_roll = 0.0060
pid_d_gain_roll = 9.7500

slightly better looks
pid_p_gain_roll = 1.1000
pid_i_gain_roll = 0.0050
pid_d_gain_roll = 10.0000

look more better
pid_p_gain_roll = 1.1000
pid_i_gain_roll = 0.0052
pid_d_gain_roll = 10.0000

looks more more better
pid_p_gain_roll = 1.1000
pid_i_gain_roll = 0.0053
pid_d_gain_roll = 10.0000

looks more more more better
pid_p_gain_roll = 1.1000
pid_i_gain_roll = 0.0054
pid_d_gain_roll = 10.0000

looks more more more more better
pid_p_gain_roll = 1.1000
pid_i_gain_roll = 0.0060
pid_d_gain_roll = 10.0000

experimental:
bidah kiri kane napok ok
pid_p_gain_roll = 1.3000
pid_i_gain_roll = 0.8000
pid_d_gain_roll = 20.0000

kiri kane cepat balah
pid_p_gain_roll = 1.1000
pid_i_gain_roll = 0.0060
pid_d_gain_roll = 4.0000

napok ok kiri kane
p_gain_roll = 1.1500
pid_i_gain_roll = 0.0070
pid_d_gain_roll = 4.5000

napok ok
pid_p_gain_roll = 1.1500
pid_i_gain_roll = 0.0100
pid_d_gain_roll = 18.0000

mace ok
pid_p_gain_roll = 1.1500
pid_i_gain_roll = 0.0200
pid_d_gain_roll = 18.0000