Testing Stabilize mode with my new Octocopter and APM 2.5, firmware 2.8.1 Did the auto tuning-thing. Lifted of just applying throttle, was then able to hover without mentionable drift, hands off the radio for long periods. Just wonderful. Also tried throwing it around. Was unable to crash it. Hobbyking X930 frame, Turnigy D3236-9 motors, 40 Amp Plush, 2x4S 3300 nanotech, HK 6 channel radio/receiver. This is meant to be a Heavylift Octocopter, my calculations say that it should be able to lift about 10kg, but at least 4-5 kilo and still fly very good.