So this is the first tuned flight of Chloe's HoG running on Hermione's frame. She drift right as Chloe always has, and doesn't have LEDDAR installed, so the hover height is wrong. She's also seriously underpowered with the T-motor 12/40 props, but the X8 configuration will fix that, but will require new PCBs. Due to the lack of LEDDAR, she's running the velocity rather than distance as the outer PID; combined with the lower power, that means she doesn't get as high as she should. Finally, you'll notice significant yaw (that eventually corrects as the yaw rate PID i-gain kicks in; again that due to the size of the props and X8 will resolve that.