I made nice progress - but not after having some bad experience.
As you may know I decided recently to replace DCM with the solution from Seb.
During my holidays in holland i got a terrible cold but i could work a little bit.
Not in terms of a total new framework but experience what to do and not.
I started to change the pid control loop using this guide: The balance filter
The biggest surprise was the amount of propellors used.
One hand is enough for counting :-)
Above a simple hovering in the garage.
and the same outside.
To me the result is ok.
I am happy to have something flyable in a short time frame.