I've had the Rakon Heli kit, motors and camera in a a box for a couple of years now. I finally set some time aside to build this, buying the rest of the needed parts and drawing up a canopy. The quad ocillates a bit during the first quarter or so of flight time, even at hover, and then settles out. I can't do any tuning with the blade fight controller, so I may try some different props. The quad flies for about five minutes of relaxed flying around the house with the Crazypony batteries. It flys quite similar to a stock Blade Nano QX FPV (somewhat sluggish).