Hello, I'm designing a hexa to carry a 1.5 kg load. I'm trying to create the absolute lightest configuration possible, so it's mostly made from CF. My question is around CG. My intuition tells me that for horizontal stability, the CG should be as low as possible. I would also think that the motion sensors would be most effective if they were as close as possible to the thrust plane. Can of any of you that have built or modified multicopters educate me on whether my assumptions are correct? My current diameter from arm-to-arm is 675mm.