Nascar race style FPV 250 quadcopter

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Just 1 minute of fun - Nascar style FPV laps.
Configuration:
RCX H250CF-3K
Acro Naze32 (Cleanflight)
KISS 18A (OneShot)
RCX H2206 1950KV
6x4.5" Propellers
Turnigy nano-tech A-SPEC G2 2200mah 3S 65~130C
ImmersionRC 5.8Ghz A/V Transmitter 600mw
Sony CCD Effio-V 800TVL Camera 2.8mm Alluminum Case
Skyzone FPV Goggles 5.8GHz 32CH Receiver V2
Mobius ActionCam
FrSky 2.4GHz TARANIS X9D PLUS
FrSky X4RSB 3/16ch 2.4Ghz ACCST Receiver (w/telemetry)
FrSky FLVSS LiPo Voltage Sensor
PID-s settings:
pid_controller=1
Roll P:4,4 I:0,032 D:21
Pitch P:4,9 I:0,034 D:23
Yaw P:7,5 I:0,045 D:5
RP rate 0,30 Yaw rate 0,30 TPA 0,00
RC rate 1,30
looptime = 1600
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