MatrixPilot quad_testing code begins to be funny to fly :)
In the video you can see a flight with the code at r1158. It is very stable and reliable. Controls are very smooth.
The quadrocopter is an Arducopter frame equipped with UavDevBoard4. No GPS, no other sensors are used at the moment. The only available mode is Fly By Wire for now.
Many thanks to Bill Premerlani and his fast implementing of his great research and development work on this subject.
Performances are growing up very quickly.