I've been using Multiwii but i wanted to test MegaPirate, so i uploaded the code and probably i'll never come back to Multiwii :D
Very stable flight with a homemade Octo with Crius AIO Pro. Testing Altitude Hold, Loiter (AltHold and Position Hold) and Return to Launch, great performance! I tuned the PIDs for Rate Roll, Rate Pitch and Stabilize Pitch, all other PIDs are default.
No software stabilization used in the vídeo.
I carried a GoPro and the video recorded by the octo was very stable! :)
If you have a Crius AIO Pro, I highly recommend MegaPirate!
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