My 2nd 6" Martian build. Now with more powerfull motors and ESCs, FC. All went pretty well and ended successfully. Copter is flying very nice on 6" props. BTFL is set on PT1 and notch filters removed. I tested 32k/8k PID loop which turn out good. No problems there but my feeling from the flight is little too much smooth. So I reverted back to 8k/2k which works best for me.