Here is the new QuadControl V4.7 (plus and X mode) firmware.
The poor atmega48's memory is now full
Higher ESC refresh: 300Hz
Added I-term on yaw axis
Added I-term anti wind-up, all axis
Changed potmeter usage:
Roll pot now controls P-term gain on roll/pitch axis.
Pitch pot now controls I-term gain on roll/pitch axis.
Yaw pot controls P-term on yaw axis as before. Yaw axis I-term is fixed at 0.2
Motor 1: front left, CW
Motor 2: back left, CCW
Motor 3: Front right, CCW
Motor 4: Back right, CW
Suggested initial setup:
P pot at 50%
I pot at 0% (it can be left at 0% since it does not have a secondary function.
Yaw P pot at 50%
Trim it level.
Adjust P (roll/pitch) to your liking.
Add I until it flies straight forward without pitching up.