Test flight with crash landing.

After some trimming, and thinking, and not to mention good answers to questions I have posted on the UAVX forum at rcgroups.com, I have now test-flown the UAVX quadrocopter.
It went well for a while, but ended in a small crash and a broken propeller.

Video of this can be seen here: Test flight video

I'm a little unsure of what caused this crash, but assume it comes from both a bit inexperienced pilot, and some wrong settings in UAVPSet.
I'll change some parameters, and I have ordered a more powerful lipo, so no voltage drop will create problems.

Replacing the defective propeller, and dismantling the motor for a check after the crash.: