Today I flew the Quadcopter indoors for the first time. It flew very well. Compared to the outdoor maiden test I toned down RC rate and Expo a bit but I will have to increase RC rate again. I flew 4 flights just to try various things and it is very stable and performing well as you can see on the video below.
Just as I figured the software compensates for the extra weight forward, I will solder an extension wire to the LIPO so I can mount it to get a better COG.