I'm back on testing ACM, now with 2.0.54. My last test was probably with 2.0.40 or similar.
I have tunned my pids and I'm pretty satisfied with the results.
My only problem is that when I'm flying forward in stabilize mode with the nose down (say pitch = -30º or -40º ) the quad always loose all its pitch and even moving its nose up (pitch = +30 or +40º) for a moment with no stick movement on my side. After 1 or 2 seconds the nose return down, and it flies normally.
I cannot avoid this behaviour, even if maintaining full pitch stick forward during the manoeuvre... ¿?
I have also checked that it happens wherever the wind comes from...
My copter is: QuadX, 50cm M2M, KDA 20-22L, Plush 25Amps, lipo 5000 3S 20C