Cut the extended legs a bit, as the stock dji extended legs are too tall and bouncy. Even the RTH can't land the quad without it falling over.
I have also change my gains to make it less wobble. Current gains are:
145% Pitch 145% Roll 140% Yaw 120% Vertical
140% Pitch 145% Roll
I have also mapped the IOC to X2 using the FMOD switch.
|Naza Lite||Walkera Devo RX1002||Walkera Devo 10|
|U||AUX1||Flap/Mix (trim U 84.5% D 84.5% subtrim U 5.5%)|
|X2||AUX2||Fmod (reverse trim U 90% D 90%)|
Also changed the failsafe voltage to be higher on first level:
first level 10.6v 0.20v 10.40v
second level 10.20v 0.20v 10.00v
Some flights of it: