Cannot tune my quad

[vishu14]

Hello,
I am building a quad for the first time.I am using a arduino mega and an mpu 6050 to control the quadcopter.I have been trying to tune the pid controller i have implemented for the past few weeks without any progress.It would be of great help if you could go through these videos and a short version of my code showing only the main part(to save your time), and tell me where i might be going wrong.
The first video contains only a kp value, which i found takes the quadcopter to the desired setpoint, albeit slowly.The second video has a kp and a very small value of kd(0.01) and the quadcopter is going crazy as you can see.

Thank you

https://drive.google.com/file/d/0B1Ec8Sq1L5voZzZoYWdJT2hRVW8/view?usp=sharing

https://drive.google.com/file/d/0B1Ec8Sq1L5voVWM3bE9IQVFHcHM/view?usp=sharing

 

[GJH105775]

This looks similar to a problem with the KK when you have your Pgain(how fast the quad responds to re level) set to respond too fast. Did you write this or get it from an open source project?





https://code.google.com/p/arducopter/downloads/list

 

[vishu14]

I wrote it.This is my college project and i am trying to build the control system.
I will try to fine tune the p gain..But i dont understand why it goes crazy at such a small value of d gain.KI seems to show no visible effects.

 

[GJH105775]

If possible try uploading an open source project just to test your hardware and arduino. If you get it flying/stable like that you may look to see what they did differently or find a possible hardware problem. Though it is more than likely a bug. If you could find something with a WTFPL(or equivalent) you could incorporate some of it's libraries.