I am becoming fond of the 250 size copters to just play around with. This is my HK FPV250 with Emax 1806 motors. Runcam camera a 250 mw Fatshark TX. There is a Minumosd onboard but it's code not completely compatible. I had used it with a highly modified aq_mavlink and it worked well, I need to dig into it and get it to match all the changes we have made to mavlink over the last couple of years.
I'm using R432 with minor changes to Motor.c to use the Kiss 18A esc. Menno has posted the changes elsewhere on the forum. I've reduced the preload values a bit as the KISS esc is very fast and probably would be fine as is.
Go to about 2:15 and my daughter is flying it with no problems it's so stable. She's been practicing with a 120mm M4 quad I gave her a few months ago.
Cheers
Steve
[youtube]watch?v=cVXuUzmKDFg&list=UUvyI6dkgSbra4VDVHOdIzgw[/youtube]