Hi Max,
My config Hexa + ,Frame alu home made, 56cm motors to motors
1 ----> DIMU with default pid OK
2-----> ESC32 + CAN
3-----> Hover at 50%
4-----> T Motors 2216-12, 800 Kv, prop Graupner 10X5
5-----> Dimu seems to be better than AIMU but not easy to see.
6-----> Firm R397
Fly very well and very good stability in wind.