@maddmackx Good to know. After reading your comment I realized my first post was a little tasteless anyway. No hard feeling I hope.
Outstanding. Thank you for the quick replies and fixes to the code. Sorry, it took me a while to respond. I was busy last week and the vehicle did not want to cooperate at all. The BEC and receiver both started shorting out. Then I borked the pixhawk for a bit (main LED off, couldn't upload code). It's all fixed up now.
As you have already seen, from Jacko's flight, the mixing between throttle power and servo throw is now working fine at zero throttle. For some reason my servo moments and corrections for yaw are reversed though. Pitch and roll are fine. I could not find any obvious reason and I'm not sure at what firmware revision this started happening. I could swap the servo connections (top to bottom and left to right) and then reverse the outputs to correct this but I wanted to check before I tried anything so drastic. Have the servo positions been changed since 3.3?
Here are my current servo positions
Out1: Back (Top) fin servo
Out2: Left fin servo
Out3: Front (Bottom) fin servo
Out4: Right fin servo
@Jacko1 That was awesome! It will be a breeze to tune with a first flight like that. Do you have any close up pictures of the copter you can share? Many of the links in this thread are dead.