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B.O.D is a VR Copter with this configuration :

• VR Brain 4.5 with Arducopter 32 rev 3.1rc3 on board
• 1 3DR Ublox GPS
• Use 4 VR ESC prototype 30A with MultiWii ESC .
• 4 T-Motors
• 12 APC Inch Propeller.
• 1 Lipo 5.800 Zippy compact.
• 1 3DR Telemetry Module.
• GoPro Hero 3 Black on board

With this configuration i doin 3 hours of fly test , normally the drone fly for 20 minutes with this configuration this is a good result for us.

With Arducopter32 rev v3.1rc3 our drone fly very well i testing all functionality :

Stable mode.

Loiter - Atti GPS mode with ovverride of position.

Return to landing point work fine .

Waypoint navigation work fine , too 

I found only a problem on hard stop when reach waypoint and RTL , some suggestion about the reconfigure parameters for have smooth stop instead of hard ?

Do you like our first RTF drone ? 

original blog post : http://www.virtualrobotix.com/profiles/blogs/vr-copter-x4-b-o-d-some-video-preview-from-the-first-3-hours-of-f

Best

Roberto Navoni