My final piece of humble pie has been delicious. I have gone from hating the Arducopter system to loving it. What can I say, Perseverance has paid off. If I can give some advice to anyone thinking of Arducopter. Patience! Start with an economical frame and give it a chance. Time and effort will pay off. Expect a learning curve and give it time.
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I second this, I have a really hard time up until AC2, but it pays to take your time, I have 3 AC2 Quads in service, by far they are currently the most stable and reliable in my fleet and I have more than 20 models. Keep up the amazing work Team Arducopter!!!!
That's the DIY spirit ;-) Many thanks for the post and I'm delighted it's all coming together.