I was finding my voltage warnings were coming in early when under load,,, took me some time to fine tune the voltage and current settings to stop this,,, at first the alarm would go off and I would land,, test lipo with a voltmeter,, and it would show 15 volts .... (still plenty left on a 4s 16000mah)
ime using taranis - mavlink with teensy board... I get full telemetry with gps map on my transmitter showing distances and directions.. voltages, current, mah used and so on..
I also got the multistar elite motors on my hex,, there very smooth 4010 740kv... I have used sunnysky 3508 700kv ,,, and deffo prefer the smooth multistars,,, the sunnsky are more suited to my smaller quad..
I did an auto tune ALL 3 AXIS AT ONCE --- it took 22mins to complete -- if your going to do an auto tune,, better to do yaw roll and pitch separate.. I using pixhawk flight controller..