Quadcopter 250 FPV race training on the range

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Configuration:
RCX H250CF-3K
Acro Naze32 (Cleanflight)
KISS 18A (OneShot)
RCX H1806-6 2400KV Brushless Motors
5x3 GF props
Turnigy nano-tech 1300mAh 4S 45~90C
PID-s settings:
pid_controller=1
Roll P:5,0 I:0,032 D:17
Pitch P:5,6 I:0,038 D:20
Yaw P:8,5 I:0,047 D:4
RP rate 0,40 Yaw rate 0,37 TPA 0,00
RC rate 1,33 RC Expo 0,72
looptime = 1600
gyro_lpf = 256
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