I had put some of the final tuning on the back burner for a while, but have ironed out a few bugs and tuned the control gains so it flies decently. It's a large frame with a hefty moment of inertia, so it's a little sluggish when it flies compared to smaller drones. I may trim the arms or work on the control gains to see if I can make it a little more responsive.

Here's a short test flight. Hopefully this youtube link works: