There is still a lot of tuning to be done. In the video I fly with propellers that are a little to small (10 inch), this results in sluggish yaw behavior. The 13 inch propellers in the images where to large, they caused the copter to be a little unstable and fly strange due to the low RPM. Currently the camera is hard-mounted, but this copter will carry a gimbal when it is complete. I do have problems with “altitude hold mode” on the APM. Maybe this is because I fly with wrong sized propellers, or there is wind blowing on the sensor.