Aleksey has mentioned that he has an alexmos firmware update that supports MAVlink as a means of avoiding/eliminating sensor drift by leveraging flight controller attitude and GPS.
Randy had mentioned "alexmos serial" support during the APM 3.
I'm not sure if this is necessarily the correct forum as we're doing aerial survey with various sensor packages for scientific research, conservation projects, etc.
But our problems are the same as yours, I think: drift caused by using only acc
I am looking for advice from someone with experience using KDE ESC's with Pixhawk. I know from this APM page that I am to manually set RC1_MIN/RC1_MAX ... RC6_MIN/RC6_MAX to 1100 and 1900, respectively (this is a hex):