Quadcopter shaking and stays a certain height.

[ericknc]

Hi Sorry for language mistakes, I'm from Brazil.
I have a CRIUS multiwii is v 2.5. And I'm fine with flying quadricoptero. But it still does not respond well to commands accelerate. I do not have GPS. I can not leave the quadricopterp stopped at a certain altitute without correcting the radio.

The Quadcopter seems to shake a bit too

[tovrin]

if its shaking you likely have a vibration issue which can cause throttle issues and all kinds of performance issues, try eliminating all vibrations or enable a LPF on the sketch