My main blog is over on the RCG Thread for those interested in Quad copters. I have a Tutorial on all Xa V1 and V2 FC systems. I cover all aspects of quad FC installs with full compass and Gyro on X-830 Copters, along with maintenance and troubleshooting. Feel Free to come by and check out my threads. I am also in the process of building a full autonomous Hexacopter / Rover combination.http://www.rcgroups.com/forums/member.php?u=293281