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This LOS quad was built using a GW008 (skull drone) FC with CG023 firmware, buck regulator from Banggood, DYS 1306 4000kv motors, Gemfan 3545 props, XM10A escs, 450mAh 3S Nanotech battery and a 140mm frame from Armattan Productions. It weighs 99.9gm and the battery is 40.7gm, AUW is 140.6gm. The other battery I use is an 850mAh 3S weighing 71.5gm, AUW 171.4gm.

Some of the firmware settings are - gyro lpf 41Hz, soft lpf 2nd 88Hz, motor filter on, PPM ESC freq 400Hz, HW I2C speed fast, motor min 0.12.

The current PID's (tuning is still in progress):
float pidkp[PIDNUMBER] = { 4.0e-2 ,  4.0e-2 ,  1.4e-1 };
float pidki[PIDNUMBER] = { 1.7e-1 ,  1.7e-1 ,  0.7e-1 };
float pidkd[PIDNUMBER] = { 3.9e-1 ,  3.9e-1 ,  1.5e-1 };