Good attempt. Yaws need practice for smooth shooting. You can use Waypoints to get better photography. Flying speeds are equally important while focusing on an object as one should be able to view before camera moves ahead.
That looks just like the same castle some fellow crashed his Phantom on top of the cylindrical structure a couple of years back. Another flyer was able to use his Tricopter with a hook and rescued it for him.
Nice video, bit too fast on the movements. Also maybe try an establishing shot to open give the viewer some idea of where the location is with a slow zoom in on the location.
Think of it as a story. This is the castle (wide shot) lets get a closer look (closer shots etc) now time to head home (another wide shot)
Good editing skills though, practice makes perfect
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