Freestyle, fast and lightweight (under 350 grams) drone, created for my friend. Installed BrainFPV RE1 with F4 processor, ESC with DShot600 support. Using BetaFlight 3.1.7 and BLHeli_S 16.65 software. Not cheap but very reliable hardware used.

BF 3.1.7 PIDs settings:

set anti_gravity_thresh = 350
set anti_gravity_gain = 3.000
set p_pitch = 55
set i_pitch = 35
set d_pitch = 25
set p_roll = 45
set i_roll = 30
set d_roll = 23
set p_yaw = 80
set i_yaw = 30
set d_yaw = 20
set rc_rate = 100
set rc_rate_yaw = 100
set roll_srate = 81
set pitch_srate = 81