For all of you Arducopter naysayers and frustrated builders I have one thing to say, stick with it. I was frustrated by my first arducopter custom quad build but now after owning a Hoverfly Pro FCB and DJI Wookong I have to say that Arducopter is passing and taking the lead in fully functional, programmable FCB's. Now that I have worked through my own frustrations I have learned to highly value the ability to tweak and fine tune Arducopter for custom frames.
Here is a video i shot testing the Y6. It is so stable after a little adjustment that I am flying with one hand and filming with the other. It is a custom prototype for my new carbon build that will be optimize for a gopro HD camera. 950mm motor to motor. My next build will be optimized for a Canon 7D and 15" props.