Fingers crossed, @Pedals2Paddles will have had enough eyes/hands on the upcoming OpenSolo on Master build by then that you’ll have the latest and greatest base firmware from ArduCopter, along with the new slew rate limiting code, which was initially designed by 3DR to prevent the ESC brown-out. Matt and others have been working on getting that code updated, improved, and mainlined for the last half-year or so.
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