Hopefully the long road of beta is almost over. I've done my best to address DCM drift issues. Again, this is not the ability for the quad to hold a perfectly level spot, it's the 20-30° error introduced by vibration and rapid maneuvers.  We've upped the gain on the DCM to recover faster. There is still room to tune these gains even more aggressively. I'll be looking for input from everyone on th…