Quadcopter PID, please help!!

hello everyone,
i'm trying make quadcopter arduino.
i have angles (roll pitch , yaw) imu. in degrees , filtered complementary filter.
i want apply pid algorithm each axis dont know if inputs should angles (degrees) or angular velocities in degrees per second calculate errors respect referencies.
which difference? best way?

finally, question pid code: have seen many people don't include time in codes. example, derivative term kd×(last error-actual error) instead kd×(last error-actual error)/looptime , similar integrative term. difference?

thank in advanced.

re: angles vs angular velocity
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to keep quadcopter @ specific set of "angles" ( roll, pitch, yaw) , think, need input error between measured angle , requested angle pid function.

re: "looptime"
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if pid called @ regular intervals ...
the "looptime" can buried in ki , kd constants.

if pid called @ irregular intervals ...
you include "looptime" value directly in pid calculation.

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