What's Quatos and can/should I use it?

[LordPikaChu]

I am seeing more and more YouTube movies about AQ builds with Quatos. As I understand correctly, Quatos is an alternative to attitude PID controller, that takes into account all components and payload of the copter, together with their weight, position and size.

How is it better that the standard PID controller? Detailed technical explanations, please.

Another question is - can I use Quatos in my build and, more importantly, should I? What's the state of development of this new controller? When can we expect it being public (or when can I get private access for testing)?

[epyonxero]

Its the secret FW version for people with red names.

[aBUGSworstnightmare]

[LordPikaChu]