I had tens of tests, PID variations, ESC replacements, crashes... I totaled the old unit and re-built trying to fix all design issues, adding carbon fiber enforcements, changing the servo drive method, etc. If I went through all issues it would take a couple of paces... Anyway, at last, the unit flies like a dream. It is probably more stable and smooth than anything else I flew. This is a short, first fully successful test. More videos to follow...