This is only the third real attempt to get a stable hover from my multirotor. Everything appears to be balanced — fore-aft CG, props, etc. — yaw seems stable, but I still require manual trim input on the Tx of about 20% right roll and 5% up pitch for it to behave as well as it does in the video. As an aside, I have Ch 6 set to adjust the 'I' value for Rate Pitch/Roll. I'd love for it to be rock steady but I'm not sure know how to get there.
Video is here: http://youtu.be/MKuDWPVwAaM and log file is here.
The other thing that concerns me is are two of the motors. After this video I checked them and motors 3 and 4 were too hot to hold tightly while the others two were barely above room temperature.
For safety, the skids are covered in foam pipe insulation and a prop protector stick was added to each arm and I'm wearing ear muffs (the sticks are from 2 carbon fiber arrows -- $3.50 each at Walmart =).
Props: APC 12x4.5
Motors: NTM Prop Drive 28-30S 800KV
ESCs: Turnigy PLush 40A
Battery: Turnigy 40C 5A 4S
Flight controller: APM 2.6 w/uBlox GPS
Receiver: FrSky D8R-II PLUS (modified antennas)
Transmitter: ER9X with FrSky ACCST 8CH module
Weight as shown: 2.4kg
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