Если ПИДы коэффициенты неправильно настроены, то тоже будет тянуть в любую сторону в зависимости от смещения ЦТ. Это очень заметно на микро-квадрике. Увеличиваешь P и все становится нормально. Ну и конечно параметр I здесь очень влияет, который как раз и компенсировать неправильный ЦТ.
Поэтому тут два варианта:
Не откалиброван акселерометр
Неправильно настроен ПИД-регулятор.
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