Testing 3 blade 4x4 here and seen from the video what needs tweaking in PID and Rates, Expo etc. Its nearly there, I was getting a bit of prop wash oscillations so dropped R&P P's a tad and raised their D's two clicks too, and so on till I get the feeling and performance I want. I'm glad to see that a Naze32 rev5 still is a very valid controller though is perhaps considered now rather old tech, the MPU6050 gyro gives no issues at all. This QAV180 is my favorite go to quad at the moment, its a hoot to fly and its getting better and better, I am being careful not to add any unnecessary weight, so I'm using self made medium C rated, 950mAh 4 packs which give just about the needed power.