Very, very cool. * How much payload can you put on the vehicle? * Are you planning on adding some sort of forward scanner / camera to check for safety while f

Very, very cool. * How much payload can you put on the vehicle? * Are you planning on adding some sort of forward scanner / camera to check for safety while flying autonomously? ("Eyes" to accompany the brain) * How are you using the feedback from the IMU and gyroscope? Does it have a kalman filter? Or are you just looking at the instantaneous IMU data and just reacting to it. * Where does the stability code reside? You mention a stable platform .. I am curious as to what it is.