User Manual

rotation. The higher you run "D" it appears you can further increase "P"
"D" the bigger the better… to smooth out any rotation. The farther from zero
you run "D" it appears you can further increase "P"
Some recommend tuning P first, then D, then I.
Control Stick Configuration Guide (valid for V2.0 also) :
Note:
Additional Resources: A good Multiwii info source:
http://www.rcgroups.com/forums/showthread.php?t=1340771#post16587954