Gineer

That video is very, very cool for two reasons:
1. I've built a TriCopter based on a .Net MF Board running at 72MHz (Not sure if I'm allowed to say which one in this forum) using a Kalman Filter. I'm in the process of tuning the PID Controller, but with all the posts that .Net is not capable of this, I've gotten fairly nervous. It's great to see one actually fly.
2. It's a custom built quad, just like mine.

Just like everyone else, I'd love to see your code/design in return for a full disclosure from my side too.

I'm planning to build a quad this year as part of my university project, but I might not go fully managed for that version.

What do you think?

One of the first flights since reworking the orientation algorithm.
I really only tested a few gains since the change, so there is some improvement to be done, but it is already 100x easier to control!

At one point I show it yawing, I then release and it returns to it's original angle.

All code is still managed!

Thanks
Gineer