Take a look at my heavy lift hexacopter.
It flies very stable with the standard PIDS.
Couldn't get loiter to work though.
NTM 910kv (changed to MK3638 on 4S)
Turnigy plush 30 amp ESC
UAP 1 frame
For booms i have 12mm kite tubes
5000mah 3S (now 4S)
Turnigy 9x + frsky
I use the hex to take aerials, with a Sony NEX 5N.
Got to say, this camera makes really nice photos.
If you have any questions, please ask!
Greetings from Holland!