Hi there. I've been building a quadcopter for a while now and I'm up to the stage where I'm tuning the various gain parameters for the PID controller. I am trying to get it to hover in one spot before I start adding in direction controls, but when I try to fly, the drone ends up drifting slightly in one direction and doesn't correct. I have a Kalman filter on my controller and I've been using the calculated angle from that as the set point for the PID controller, however I've seen videos online (Joop Brokking) where the angle rate from the filter has been used instead.

Am I right in using the actual angle instead of the angle rate as input for my PID system where I just want it to hover in place?