The PID values 2, 0.01, 1 it can not work. Do first the basic setup carefully, then the PID tuning. It just requires careful following the instructions, thinking and analysing too much before it is tuned according the instructions just confuses you.
For the beeps, maybe battery voltage is to correctly set and calibrated.
It is better set it working first with camera sensor only (less things to worry about) After everything is working activate the Frame IMU. See advanced tab to do that.