This got a lot too long but wanted to tell a story and answer a post at the same time.
The Blheli code with lightly damped does a good job on the esc's that have all nfets. Most of
the multirotor esc's now can raise the speed fairly rapidly, only those with active braking can
get the speed back down quickly. The ESC32v3 as you see is the closest to a square wave which would be
perfect response. The Kiss and Blheli and certain SimonK code do a fair job. All have flown the 250 size machines well
with Menno's Hott code that has provisions for using non closed loop esc's with Quatos.
It would probably be worthwhile to post a short version of what I went through getting a ZMR-250 to fly correctly.
When you put a fast esc on a poor frame it will bring out all kinds of problems that will not show
with a slower esc. I had a hard time with the Warpquad type frame until I added a second layer of 2mm carbon
to the booms to lower the vibration levels. From what I've seen the flat boom frames must lack the necessary
rotational rigidity that is necessary to prevent a bad reaction between the flight control, motors and frame. Like shaking a sheet in the wind with the ripples and standing waves all over the place.
I did a H-frame a few month's ago that turned out real well. It had KISS18A esc's, M4 and Emax1804 motors. For this post I just took the frame and added weight to bring it up to the weight of the ZMR-250 frame I am going to show you in a bit. Here is a screen capture of a short indoor hover. Fast Kiss18a esc's running a M4 with Quatos with Menno's Hott code with Hott turned off.
![20150410_093024.jpg (674.66 KiB) Viewed 29968 times 20150410_093024.jpg](./download/file.php?id=6314&t=1&sid=f3962e41265280f09376439b9b8c084f)
![20150418_101643.jpg (680.73 KiB) Viewed 29968 times 20150418_101643.jpg](./download/file.php?id=6315&t=1&sid=f3962e41265280f09376439b9b8c084f)
![Hquad Kiss18a Emax1804 Quaots.jpg (328.57 KiB) Viewed 29968 times Hquad Kiss18a Emax1804 Quaots.jpg](./download/file.php?id=6309&t=1&sid=f3962e41265280f09376439b9b8c084f)
I told Jussi month's ago I would do a build with a common frame and I chose the ZMR-250. That turned out to be a big mistake. I might of gotten a ZMR-250 clone but the workmanship looked great and it is solid carbon fiber. While trying to get it to work I tried 3 different motor sets( Sunnysky,Emax and MultistarElite),3 different esc's(Kiss18A,AfroESC,F-12a Red), 2 different M4 board's and a Flip32 board before I finally added a brace across the bottom of the front and rear booms. This brought the vibration levels down to an acceptable level.
Until I added the brace I consistently got bad vibrations, nothing I tried made any difference and could not get the vibration levels down. They all looked like this.
![ZMR-250 frame MultiStarElite 2204 Kiss18A.jpg (463.04 KiB) Viewed 29968 times ZMR-250 frame MultiStarElite 2204 Kiss18A.jpg](./download/file.php?id=6310&t=1&sid=f3962e41265280f09376439b9b8c084f)
Before I added the brace I decided to put a Flip32 board onboard and take a look at oneshot125. It was no surprise it was almost exactly the same, I mounted the M4 board on the bottom to read the vibration. I even tried oneshot with a slight improvement. I think the lower resolution of oneshot did more to quiet it down than anything else.
![M4_Mounted2ZMR250Flip32.jpg (488.46 KiB) Viewed 29968 times M4_Mounted2ZMR250Flip32.jpg](./download/file.php?id=6313&t=1&sid=f3962e41265280f09376439b9b8c084f)
I finally added the brace shown in the next picture cut from G10 epoxy and fastened to the existing bolts and boom holes.
![20150417_132655.jpg (903.42 KiB) Viewed 29968 times 20150417_132655.jpg](./download/file.php?id=6311&t=1&sid=f3962e41265280f09376439b9b8c084f)
This is a capture of the current vibration levels with the boom brace. Not as good as the above H-frame but isn't too bad.
![ZMR-250 M4 Kiss18A Quatos.jpg (314.5 KiB) Viewed 29968 times ZMR-250 M4 Kiss18A Quatos.jpg](./download/file.php?id=6312&t=1&sid=f3962e41265280f09376439b9b8c084f)
So after all that I won't wait so long to give up on the frame, just because the other guy uses it doesn't mean it's really
up to snuff. Won't be long before I get rid of the ZMR-250.
Cheers
Steve