I thought I would share my PID gains for a small 150-class quadcopter (albeit rather heavy for its size).
Frame: Diatone Lizard 150
Motors: DYS 1104 with 3020 props
Total weight: 270 grams
Thrust/Weight ratio: approx. 1.6
Tested in manual mode and position control mode. I'm not an experienced pilot, but for what its worth, it was flying pretty good.
The critical part turned out to be increasing time constants. With 0.15s there were lots of oscillations, and I had to decrease P gains to as low as 0.02, but then the quad was too sluggish and barely flyable. After increasing TC to 0.25s I was able to increase the gains.
Btw, it looks like there is a mistake in the docs.
D Gain Tuning (...) Typical value is around 0.01…0.02.
I didn't see such high values in any of the presets, aren't typical values more in range 0.001 to 0.003?