Quadcopter PID tuning and in-flight footage

Now that my quadcopter has its low-pass filter set on the accelerometer, I can fly again! This time I've put on a wee video camera from Veho to capture the quads-eye-view of the flight.

Still need to do some PID tuning as the quad reacts a bit too much to large disturbances, but its now controllable in a hover :)