You are ready for your first flight. First thing you should do is to try out your drone without any propeller to see if everything responds well.

Then, you can add your propellers and start very slowly to increase the throttle to see if you can take off.

Your drone probably oscillate slowly, vibrates or the motors whistle. This means you need to set up your PID settings!

This part takes a while if you want a very stable drone that responds well to your commands. PID setting is subjective so it's really up to you how you want your drone to fly. Here is the procedure:

1. Start with a low I on pitch and roll (0.01) and increase P until you see high frequency oscillations and reduce it back to the last value.
2. Then, increase I on pitch and roll by increments of 0.01 until again you see vibrations or you feel your drone is stiff and unresponsive. Typically the I setting can help you if you experience altitude drops and drifting. It counters the perturbations on your system (the drone).
3. Lower back your P if you saw any high frequency oscillations.
4. Decrease your D if your drone seems too dampened (low to respond).

For the yaw axis, typically you can leave it at default but if you feel that your drone drifts in the yaw axis, then you can increase I.

In the video above, you can see a typical example where the PID gains have been increased too much. The drone oscillates and in this case the I term has been increased too much. When this kind of behavior starts to show up, you need to take a step back and decrease I to the previous value where the drone didn't oscillate.

Additional tips:

• Add a low pass filter at 20Hz on the MultiWii firmware if you have a flexible frame (like the one in this tutorial).
• Put foam and a black tape on the barometer of the Multiwii to improve performance (isolate the sensor from wind and light).