I have observed many many times during conventional menthod of current calibration of the 3DR Power module using arming the copter and motors that the current displayed by the power anlyzer is not stable and fluctuating by 1-2Amps or even higher.…
"You are really innocent man, band width is the main constraint on RFD900 radios. Even for transmitting an analog color video you require at least 5.5Mhz band width. Whereas RFD900 has maximum 250kbps.
"I have gone through most of your videos on this project and observed that the flight stabilization itself is at not at par with the Ardupilot based Pixhawk. However the flight stabilization is at par with APM code of year 2010-2011.
"Great efforts n great results indeed ! There is no wiki on the git page which you should do asap, it should include wiring diagram, BOM and more which you think, is required for anyone interested to test it."