This is the quick and dirty way I used to tune my P gains and rates for the QAV250. If you have gains/rates you'd like to share please post the below.
Here are the components that I'm flying with on the QAV250:
Lumenier 12 amp ESC w/ SimonK AutoShot
Acro Naze32:
Lumenier 1300mAh Battery:
Lumenier FXC1806-14 2300kv
Gemfan 5x3 Props:
These are the gains I'm currently flying with:
Roll P: 4.2
Roll I: 0.030
Roll D: 23
Pitch P: 4.2
Pitch I: 0.030
Pitch D: 23
Yaw P: 8.5
Yaw I: 0.045
Yaw D: 0
Roll rate: 0.5
Pitch rate: 0.5
Yaw rate: 0.5