ZMR250 running YMFC with nRF24L01 and MPU6050

Video Channel
Please help us to find bad videos. Broken or unappropriated video content?
A quick test with the default settings, then again after some PID tuning.
See the YMFC video series here:
I'll make another video later to explain the changes I made. Until then, a first draft of the code is here:
Fpvracer.lt is not the owner of this text/video/image/photo content, the real source of content is Youtube.com and user declared in this page publication as Youtube.com user, if you have any question about video removal, what was shared by open community, please contact Youtube.com directly or report bad/not working video links directly to video owner on Youtube.com. Removed video from Youtube.com will also be removed from here.