For multicopters we typically all use lipos. The ESCs must be set for NiMh and no or soft cut-off because this makes the ESC low voltage cutoff lower so one or more of them does not decide to shut down in-flight which is always predictably bad ju-ju for multicopters. A throttle surge can be enough to momentarily put an ESC in shutdown mode if the ESC lipo setting is selected. Get a separate lipo alarm and gauge your total flying time minus two minutes reserve power for landing are the best practice methods for multicopter lipo management.

by jesolins (Jim)