Flying Tup' On a budget v. 2.0

So I wrote a while back about my Flying Tup' having a number of issues - the main one being that one of the motors would cut out while in flight. (See the article here) It looked like this:

I was using HobbyKing's Multiwii Nanowii clone - I recommend you do not buy it for several reasons. The main one being that it's a ripoff of the Flyduino NanoWii, whose author Felix provided schematics for his early prototypes - those prototypes are what HobbyKing copied. As a result there are a number of issues with them, including but not limited to my flying woes. For the same price as the HK part I ordered an Acro NaZe 32, which is a 32-bit port of MultiWii (which is run on 8bit chips normally). The difference is that on the NaZe you have to solder your own pins for servo/RX leads. That doesn't scare me one bit, and took about 1 hour to solder and verify each pin connection was properly functional.

Unfortunately since I wrote the first article, one of the Turnigy C1826 motors died - I was thinking it'd be an interesting tip to figure out what caused that death, but that's something I'll put in the forums first. I had to change motors. I ended up with these instead. Of course I had to match ESCs and props with that. I have TowerPro Mag8 18A ESCs and 8x4.5 props mounted. I have not yet flashed my ESCs with the SimonK firmware, but everywhere I look, folks seem to be either buying flashed ESCs or flashing them themselves. Once I have a better handling on my copter that might be something I try. For the moment I'm happy leaving them as is.

The crash that killed the motor also killed the tupperware, and one of the main issues I noticed was how poorly it was holding the 120 degree angles between the arms. So I "beefed" it up a tad, and replaced the tupperware. Here's what it looks like now:

 The controller is on top of a patch of foam and taped on securely. I've reworked the hinge mechanism for the back motor so the servo is on top instead of underneath the boom, that was a weak point before. Here's the maiden flight with the Acro NaZe 32, with default PIDs, no changes other than setting it up for tricopter, I removed the voltage battery monitoring or telemetry from the configuration for the time being - I may add those back in later if I get a bluetooth module for it.

It tended to drift a bit on the yaw axis, but I blame my forgetfulness about the gyro calibration. I'd calibrated the accelerometers, and it was just plain rock steady. None of the jumpiness I came to expect from the HK part it flies just rock steady.

I was so excited with it that I turned on the LED strips and went for some night flying. Sadly I was alone, so I don't have a view of the flying itself, but I propped my HTC dumbphone into the tupperware with rubberbands and started the filming before take off. Here's what it looked like from the air at night:

WARNING: unedited video! Motors start 30 seconds in and are really loud!

I hope you enjoyed the follow up. The next improvement is most likely making use of the solidoodle I now have at work to print a casing and hinge for the tail motor. I'll make the STL files available when they're done.

Don't hesitate to ask questions or leave me feedback - I'm trying to do the best I can with what I know, and this is what I have.