To summarize

Altitude controller: 2nd order system => PD Controller at least (I-term can be useful, but can be safely ignored)

Lateral controller: 2nd order system => PD Controller at least (I-term can be useful, but can be safely ignored)

Yaw controller: 1st order system => P Controller

Body rate controller: 1st order system => P Controller

Roll/Pitch controller: 1st order system => P Controller

Before you continue…

Please read sections 3 and 4 of this paper: Feed-Forward Parameter Identification. As you read through, pay attention to equations (2), (4), (5), and (6).