Here is new software for TriCopter.
I have added a low pass filter on the output to remove the vibration induced servo jitter.
b16sub RxInYaw, LowpassOutYaw ;Low pass filter the Yaw control output
b16add LowpassOutYaw, RxInYaw
Also I have doubled the arming/disarming time to make accidental arming/disarming less likely to happen.