See https://yuneecpilots.com/threads/typhoon-h-480-px4-v1-10-stability-issues.18205/ for more information
Recommended FW version is still the: https://github.com/tonirosendahl/Thunderbird/blob/Typhoon_H_480/Thunderbird_030420_CD.zip
Latest flight-tested binary: https://github.com/tonirosendahl/Thunderbird/raw/Typhoon_H_480/Thunderbird_170521_FT_LATEST.zip
Latest documentation by h-elsner: https://github.com/h-elsner/Thunderbird/tree/Typhoon_H_480/Documentation
Build using PX4 V1.10 toolchain.