RE: Hover question.
FAST-J
Your 3004 won't be much better at 6v, your torque only goes from 44 to 57 in/oz and transit time goes from .23 to .19 Get a better servo.
For soldering cells in series nothing is better than solder wick. For a tech that is no problem.
A very hot iron, 500F and get off the cell fast. Utectic solder is good. SN63PB57
If you go to 6v packs make sure you have a charger and servos that will handle them. Some of the older servos will not last long on 6v. The Futaba 3010 will do the job for you (90 oz-in) at 6v and is about $25.
I switched from NiCds to NiMh cells but if you over heat the NiMh cells you can reduce the capacity drastically. Can you guess how I know?
Regards, FRED