After a year of darkness, with a lot of crashes and deceptions, we manage to build our lightweight frame and get our manufacturer licence from the DGAC.
In France, europe will probably apply the same rules, the uav with batteries and dslr, has to be less than 4kg alltogether to be authorized in town. Our goal was to get 1 kg payload with 15 min and a full control of the dslr. Our overpowered quad is 2580g with paraglide, and has an autonomy of 12 to 15min with 2*4S2100mah (418g). The gimbal can carry 1kg payload and all canon dslr are driven by dslrcontroller from the ground.
We had a 6 months disscussion with the dgac to prove them the safety of the apm firmware.
Done, DGAC accepted the first manufacturer with something that is not DJI or MK.
Thanks a lot to everyone who helped us.