Naze32 settings
CleanFlight
Firmware Version 1.8.1
PID controller 2 - LuxFloat
oneshot125 enabled
Looptime 1200
Roll P 1.2 I 0.045 D 16
Pitch P 2.0 I 0.050 D 20
Yaw P 3.3 I 0.036 D 0
Roll rate 0.65
Pitch rate 0.65
Yaw rate 0.43
TPA 0.00
RC rate 0.75
RC expo 0.70
throttle expo 0.00
Music : "Poo Calamity" found it on Soundcloud ... (remix of Holy Calamity" by Handsome Boy Modelling School.)