PID tuning a SK450 quad with "Dead Cat" conversion

[APailthorp]

I'm trying to figure out where to go with my SK450 "Dead Cat" build. I have it flying, but just barely and very difficult to control. Here's what I've got - I'm willing to try other hardware, but I'm hoping someone can give me some advice to get closer than I am now to making a flying machine that I can use. Eventually, I hope to mount a camera, but not until I can fly it quite a bit better. I've been and will continue to experiment with PID values, but am not sure if I'm wildly off in some critical way, so I'm asking here for advice.

Here's a video of what it looks like when I try to fly it (it's ugly) with "Angle" mode enabled: http://vimeo.com/79695015

The build:
SK450 quad with "Dead Cat" conversion
Motors: NTM Prop Drive 28-26 1000KV / 235W
Props: 8045 (carbon fiber)
Controller: MultiWii 328P Flight Controller with Blutooth module (ACC/GYRO/BAR/MAG) - Although the controller is in theory equipped with gyro, I don't see it in the Multiwii EZ-Gui Android software. When I link the quad to the configuration software, it reports [QUADX] Multiwii 2.2 {BARO] [MAG] [ACC].
ESCs: TURNIGY Plush 25amp Speed Controller
Battery: Turnigy 2200mAh 4S 35C Lipo Pack - 257 grams

I have some lighter 3S batteries as well, and some 1045 props I can work with. I'd eventually like it to carry a camera mounted on the forward platform that weighs 165 grams. The present total weight of the quad with the 4S battery is 1290 grams.

Here are the current PID values (In P, I, D ordering):
Roll: 2.5, 0.030, 23
Pitch: 2.5, 0.030, 23
Yaw: 5.5, 0.045, 0
ALT: 7.1, 025, 24
Pos: 0.10, 0.0
PosR: 2.0, 0.08, 0.045
NavR: 1.4, 0.20, 0.080
LEVEL: 9.0, 0.010, 100
MAG: 4.0
Thr Mid: 0.30
Thr Expo: 0.00
RC Rate: 0.94
RC Expo: 0.81
Thr PID attenuation: 0.00

[odem]

Did you purchase the SK450 arms from HK?

I had these arms (not a dead cat) and could not get it to fly until the gyro filtering was enabled and even then it had issues. Have seen other people talk very negativly about the HK arms yet others don't seem to mind them.

[AhLee]

you may try these pid, works for my mini custom DeadCat290mini