XJ 470 Update

The good news is that it works!  After finding the ESC issue and fixing it, I was hopeful it would fly.  It didn't, throttle response was rubbish and no matter how much I adjusted the PID settings I couldn't keep the quad in the air.  The solution was to change the size of the props from 10 inch to 8 inch, this has made the quad a pleasure to fly.  I'm now waiting for the time and weather conditions to test the Altitude hold mode, and GPS hold.