Here is the first flight of my first hexa :D used software AC2.5.4 wich gave an excellent flight (I had 2 yaw twiches) Loiter still needing some work in software or PID. I think throttle rate is a bit higher causing those ups and downs. Alt hold seemed to work better with version 2.2. RTL worked pretty well and that option to disengage auto landing it's great. Thanks Marco and dev team. The hexa and the quad behave a little different. The hexa is almost as driving a 4x4 much more stable but still agile, it needs less angle to correct position. I'm not used to it yet. I know now that all my stability problems with my quad using 2.5.4 were due to too large props in a small frame. The hexa is much more forgiving about this. X650 pro Xaircraft frame, sunnysky x2212 980kv motors and 10x4.7sf apc props, 6000mah 3s 25/50c nanotech battery about 2kgs for all, having about 15m flight time with this config.