The Armfox V4 is my experimental platform for develop Flycam .
In my development i'm using :
Multipliot 32 : http://www.virtualrobotix.com/page/multipilot32-1
The firmware is ArdupiratesNG 32 that i had implemented with some new libs and functionality :
I add the support to 1 wire PPMSUM radio as Jeti to have on 1 wire until 12 channel that could be usefull for fly cam application .
I add the support to i2c esc so the refresh rate of esc is 2.5 khz instead of 550 hz available on standard esc.
On VRIMU is available a professional sensor ADXRS 610 gyro for high precision and high immunity to vibration. the full scale of sensor is 300 °/S and the resolution is 12 bit.
With this kind of configuration is available a lot of 16 bit pwm output for manage high quality sensor for gimbal managment.