This was a test flight of WLToys Assassin V383 variable pitch quadcopter using Copter-3.6.
Tridge actually first flew this frame last October so my main goal was to confirm it all worked and also to ensure it was documented so after getting it flying, I also created a wiki page here to describe the setup and there is even a default parameters file for this frame.
One warning about this particular frame is the propeller mounts at the ends of the arms can break free allowing the motor to rotate 20degrees or so. This happened both to Tridge’s vehicle and to mine so it seems like a design flaw. A screw through the propeller mount and right into the aluminum arm was how I resolve this problem.
One interesting thing about this vehicle type is that we actually use the traditional helicopter firmware on it rather than the multicopter firmware. With its four miniature swash plates, it really is half way between a multicopter and a trad heli.
Copter-3.6 should enter beta testing later this week.