"I am curious about the PIDs, we usually build large drones and finding the right PIDs is always hard, auto-tune is a great help, but in some cases you have to guess a good starting number before the first flight, otherwise it's gonna end in a crash."

"Congratulations, impressive engineering! This kind of performance drives the industry forward!"

"In my opinion that kind of setup in general requires higher PIDs, not lower... try to make an auto tune with reduced filter hz to 10 and try to play around with the auto tune aggression paramas"

"You need higher C rating batteries, voltage drop is normal, but the quality of your batteries is very poor..."

"The single problem I have is that the quad is loosing altitude with forward flight, even in alt hold mode. Even the slightest forward flight will result in 30-40cm altitude loss... Once it stops it will climb back to the original altitude... It is…"

"Hello, I've done an auto tune on almost the same setup, the quad became a little bit under tuned. I have even try lower KV motors too, those one became over-tuned. Good luck! "