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The thing is it won't come anywhere close to leveling its self out. Its on a test rig because it isn't even close to being ready to fly. There is no way to tune anything in the air because it wont get off of the ground. Here is a log from my debugger: (Gap from 0 Degrees/horizontal) (Roll...

In the video I am giving the quadcopter almost constant throttle and just changing the P value to attempt to get the quadcopter to level itself out. Getting the readings isn't my problem I am getting accurate readings but they might be noisy from vibration when I turn on the motors.

I'll see what I can find, do you have any suggestions on brand, ect.? Do you think gyro vibration is causing my problem from the video?

I have been working on my quad for about two months now. It utilizes a MPU6050 accelerometer and gyro, hobby king ECS , motors, and frame. I am using a 3cell lipoly batter with a China RC controller (4 channel). I have recently moved the acell/gyro chip onto a peice of soft wood ontop of some...