In this experiment I am trying a far-famed Arduino PID library (PID_v1) which is simple to setup and use. The tricky part is to set the relevant PID parameters (kp, ki and kd) according your actual ...

Now he just needed a PID library — readily available from Arduino.cc of course.

Multicopters generally use Proportional-Integral-Derivative (PID) control loops to maintain stability in the air. [AA] used the Arduino PID library for his quadcopter.