Here's my latest, a Titan Tricopter from Fortis Airframes. Picture is a little dated, in it's current configuration the GPS is installed on the avionics cover between the ears of the canopy rather than on the rear boom, and the Spektrum Satellite RX has been replaced with an FrSky D4R-II receiver. Flying the latest Taulabs next branch on my Naze32Pro port. I've modified the FrSky sensor hub telemetry to downlink arm status, flight mode, GPS lock status, GPS satellites tracked, and hDop. It's displayed cryptically on the Taranis Plus at the moment, but I'm working on a LUA script custom telem page to make it a little more friendly.
I'll get the updated sensor hub code into a pull request shortly, and I'll also post the LUA script once I get that all figured out.
The Naze32Pro is somewhat similar to Sparky 1. Main differences are all the sensors are on SPI (except mag when you use an external one, then mag is on I2C), there are 2 tx/rx serial ports, one rx only serial port, a set of external I2C pins, on board voltage divider for battery monitoring, and on board driver for a buzzer.
How does it fly? In one word, fantastic! I need to do some tuning, but with stock gains on everything, the rate mode, attitude mode, horizon mode, altitude hold, and position hold all work very well.
Now we just have to work on the nut in the sticks skills, or lack there of....
For those interested, it's Ublox 6M gps with external HMC5883 mag. I was tracking between 13 and 14 satellites with an hDop under 0.7. I did see a little toilet bowl effect on one flight, nothing serious, and I'm confident that can be easily tuned out.
I need to set it up for autotuning. I've run it once before, but did not save the new gains. It does get a little wild on the tricopter compared to a quad, nothing outrageous or unmanageable, but the tail does swing around quite a bit. And it could be it's simply more noticeable on the tri because of the long tail boom.