So, is uploading video to Youtube allowed or not?

The Focus was Youtube Videos with the Money ads on them, not for just uploading.
 
The default on youtube is no ads. I don't think anyone would really have much of a case calling your usage commercial if all you did was post on Youtube for anyone to see and download for free. But then I'm no lawyer.
 
I can understand why some pilots prefer using Vimeo over Google owned YouTube. I think the videos are nicer looking there as well, and no pop up ads.

But we are now able to have Live streaming feed from Phantom 3 to YouTube, so that's unique.

RedHotPoker
 

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