I found the problem why I could not get a lift off.
It turned out the one of the motors E-clips, which holds the brushless housing in place, was moved downwards on the shaft so the house wasn't attached properly. After I fixed that I could make a leveled lift off.
But the controlling wasn't that good with the MPU6050 alone. So instead of starting to get MAG and Barometer I decided to get a FreeIMU and that worked great.
After a lot off crashes and a lot of broken propellers, I think I'm close to have broken 12 of them :), I'm finally at a stage where I can start adjusting the PID values and actually learn how to fly.
My Bluetooth shield has been a great help as it is quite easy to go out and fly, and use the computer to adjust the settings on the run.
I also found out the it was important to adjust the throttle and pitch curves as I'm not experience enough to not pull the stick to much. So by setting a more flat curve around eg the hover point allows my somewhat fumbling stick movements to have less impact.
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