A rather dull video showing how stable my tricopter is after many weeks of tweaking. My biggest enemy has been vibration affecting the gyro, causing the vehicle to wobble slightly in the pitch / roll / yaw axes, in particular when the black dome was fitted in the middle (it seemed better without it).
However, it's now super smooth! :-)
More info on the project here:
and more info on the open-source project that controls the copter here: