Sounds good, legs will definitely be worth it for protecting the battery.
I found with mine that the trims don't really affect it much when flying unless I'm just trying hover oin self level mode. If you want the self level you'll definitely want it nailed though.
I can dig out my p/i tuning for your for reference later, similar build to yours.
I found with mine that the trims don't really affect it much when flying unless I'm just trying hover oin self level mode. If you want the self level you'll definitely want it nailed though.
I can dig out my p/i tuning for your for reference later, similar build to yours.