Hi, just to share my 2nd version of Tricopter using a commercial controller from Korea. Fly really well, much better than my 1st version using 3 gyros for the arms and a 4th gyro for the tail. With the controller, the pitch & roll axis are well controlled and level (using 3 separate gyro is ok for normal flying but because they are not sync/coord, punch up can cause roll/pitch movement). The Yaw mechanism is made from rotor head part of the Mini-T