Summary

Ball Drone MK II Upper Ring Enforced

I have this Ball Drone MK II flying very well, it can RTL, position hold with Ardupilot. However with a more ridged "enforced" upper ring Ardupilot "single" copter just fly's better.

I’ve included my PID set up, which could be helpful for someone.

Thank you to the person that design the "Ball Drone MK II" user: Ben5en

For Ardupilot setup have a look at this link: https://discuss.ardupilot.org/t/singlecopter-of-benjamin-prescher-on-ardupilot/71860