Gyro

Gyro-P: Influence on the nick- roll- (rotation) speed. If larger, the MK moves slower.
Gyro-I: Influence of the angle attitude.
Gyro-D: If short control oscillations occur, this can be reduced with the Gyro-D value. If the value is too high, the MK begins to vibrate / hum. Setting: slightly below the value at which the MK starts to vibrate (20%).
Gier-P: Influence on the yaw (rotation) speed. If larger, the MK moves slower.
Gier-I: Influence of the yaw-angle attitude.
Dynamic Stability:

This value can adjust how much the thrust available to stabilize. If too large, the MK will raise during stabilizing action.

Smaller than 64 -> the thrust to regulate is limited under limit -> no rise in strong movements.
Larger than 64 -> the thrust to regulate can be larger than the gas value -> hard stabilisation of the axes -> could raise during strong movements

ACC/Gyro-Faktor: : The factor between the ACC-ange and the Gyro-ancles
ACC/Gyro-Comp.: : The angle fusion between ACC and Gyro-Angle.

Grad des Fusion zwischen ACC und Gyro (reciprocal). The smaller the value, the faster is the data fusion.The smaller the value, the more quickly adapted to the Gyrowinkel the ACC sensor. For slow hoovering higher values are better (> 100). For fast flying, you should take small values (10-50)

Hauptregler I: Sum of the angular error. Provides greater precision between stick and attitude. Can oscillate if the value is too large.
Driftcompensation (for FC 1.x):

Specifies how many 1/8 counts per 500 ms of the gyro-sensor drift can be tracked. If the value is too small -> the Gyrodrift (eg temperature changes) could pull the MK strongly in one direction. Null -> drift compensation off
/ \ NOTE: The FC 2.0 ME is the value is always 0!

GyroStability: reduces the influence of all three P,I,D
- below 8: lower influence of the PID
- larger than 8: higher influence of the PID

Tipp: if you want to change the behave of the MK, please first start changing the GyroStability and Stick-P and Stick-D