Doesn't look like there is any wind?  It did not fly like this out of the box.  20mph winds and steady thanks to my tune.

It goes 8.0 m/s vertical up and down but the batteries were cold so it did 6.7m/s.


advanced_function.height_limit_enabled_0    2 2 2

flying_limit.max_height_0                   1000 1000 1000
control.horiz_vel_atti_range_0            35 60 35
control.atti_limit_0                50 60 50
control.atti_range_0                50 60 50
control.vert_up_vel_0                8 10 8
control.vert_down_vel_0              8 10 8

g_config.control.horiz_vel_damping_gain_0  120
g_config.control.horiz_atti_damping_gain_0 120

g_config.pantilt.roll_gain_0     20 1000 150
g_config.pantilt.pitch_gain_0    20 1000 150
g_config.pantilt.yaw_gain_0      20 1000 150

INMCAPPFw1.bin

Very nice indeed!

Nicely done! Thanks for sharing.