"I have the same frame with 4016 380Kv motors. 16 Amp Bat. Pixhawk. 
Some issues :  
RC_FEEL_RP = 50 is overpower, try 45-48
PID: After auto tuning the multi is very responsive, lower P value will make it smoother. 
Take off: "smoothly and…"

"@Darius Jack Google Maps and Google Earth is for all kind of public.They don't need HR-image so Why spend money and resources in that?. 
"Commercial sat imaginery is ok for public administration, public funded grants, large corporations, not exactly…"

"@Darius Jack, You'r right, In any case it was only an example. There are others very high resolution sensors: WorldView, WorldView-1, GeoEye-1, WorldView-2 y WorldView-3."

"Survey "23 Km2 3-4 times in a 8 months" with UAV it's possible but the cost/benefit is huge, because the post-processing data of 23 km2 is not easy. Also you need take in account flight time, weather conditions, cpu time consumption, fails, etc. 
In…"