Built this little over a month ago and it's the best indoor whoop I ever flown. I am using Mr. Shutterbugs pids and I am getting over 4:30 sec of flight time on a 1s 300mah battery. I've crashed this this thing hundreds of times and nothing ever broke "knock on wood". It may not be pretty but it's functional.

Mr. Shutterbugs pids

ESC Setup:

• Flash JESC v2.3 with 48kHZ PWM
• Startup Power = 1.0
• Demag Compensation = High
• Motor Timing = Medium High
• Enable Bi-directional DSHOT (small fee for H-type ESCs, free for L-type)

Betaflight 4.2.3 CLI Diff:
feature -AIRMODE
set gyro_lowpass2_hz = 375
set dyn_notch_width_percent = 0
set dyn_notch_q = 250
set dyn_notch_min_hz = 125
set dyn_notch_max_hz = 350
set dyn_lpf_gyro_min_hz = 300
set dyn_lpf_gyro_max_hz = 750
set rc_smoothing_auto_smoothness = 7
set fpv_mix_degrees = 13
set dshot_idle_value = 700
set dshot_bidir = ON
set motor_pwm_protocol = DSHOT150
set motor_poles = 12
set thr_corr_value = 3
set thr_corr_angle = 650
set vbat_max_cell_voltage = 440
set vbat_min_cell_voltage = 300
set vbat_warning_cell_voltage = 310
set yaw_motors_reversed = ON
set small_angle = 180
set pid_process_denom = 4
profile 0
set dyn_lpf_dterm_min_hz = 105
set dyn_lpf_dterm_max_hz = 255
set dyn_lpf_dterm_curve_expo = 7
set dterm_lowpass2_hz = 225
set iterm_relax_cutoff = 20
set yaw_lowpass_hz = 100
set throttle_boost = 7
set throttle_boost_cutoff = 25
set p_pitch = 69
set d_pitch = 68
set f_pitch = 133
set p_roll = 63
set d_roll = 62
set f_roll = 126
set p_yaw = 68
set f_yaw = 126
set angle_level_strength = 90
set level_limit = 65
set d_min_roll = 0
set d_min_pitch = 0
set ff_spike_limit = 70
set ff_smooth_factor = 20
rateprofile 0
set roll_rc_rate = 210
set pitch_rc_rate = 210
set yaw_rc_rate = 220
set roll_expo = 40
set pitch_expo = 40
set yaw_expo = 40
set roll_srate = 0
set pitch_srate = 0
set yaw_srate = 0