"i was made one for my ipad1(3.3.2 jailbreak) moths ago, XBEE conect ipad via TTL. I take IPAD outside for adjust ACM quad's PID and a simple google map show quad current location. a lot of good time :) but dont have time to do more. and i found MWC…"
"i had the same issue with my x frame, try [stabilize yaw pid] D value set to 0.01, it make yaw turn much smooth, but seems not stabilize like before. "