VTOL Tri-Copter being flown with IMU AttoPilot, using CCPM mixing. This is assisted mode, where AttoPilot provides rate dampening (roll + pitch + yaw) through the CCPM mixing, as well as IMU-referenced attitude control. Attitude and yaw is controlled via joystick.
Disclaimer: This is after literally only 4 hours code work on tri-copter and was fighting issues with thin GWS propellers deforming under load. I believe the initial results are excellent, but much much better to come.