here is a file of the model i re-work right now, a 690 frame with 5S D4215-650kv motors. what is important in that file is a more or less properly set INS_HNTCH harmonic notch filter section that GREATLY improves stability with less than ideal pids.
you may need to look up details of how it need to be setup, also, my model now flies barebone, so, it is greatly overpowered with INS_HNTCH_REF=0.12 from loiter motor throttle from MOT_HOVER_LEARN= 2 and MOT_THST_HOVER=0.1303587.
obviously, if your hover thrust is in other area - update the INS_HNTCH_REF accordingly.
also, just out of curiosity - it is not quite common now to see anybody building a 17Ah T6 - what is the use case, if you do not mind to share? what payload you plan to utilize it for and what other peripherals?
i want to experiment with some companion computer on my 690S for optical avoidance but did not get to anything yet, just reworked the base platform for now, using matek f765.
on DSHOT ESCs - if you mounted them on arms under motors - put a 40V 350mF capacitor on each power line to ESC. i frankly did not see much point to use dshot ones - i still have old oneshot simon-k esc from 5 years ago, it works fine on those low kV motors.
if you will use dshot 32 ESCs - make sure to feed telemetry wire back to the controller - then the notch filter can be configured to use that telemetry - it works way better that way.
wrapped ESCs do not cool down well enough. if you keep burning them down - it means something is not optimal.
you can get either ESC with heatsink or get an external one and put it on. dunno. i have old dumb ones with embedded heatsinks on both my heavy models - simon-k type. on new models i run tekko32 also with heatsinks on `em - out of 16 of them i did blow up one last summer. i wold not wrap ESCs like that as this way it cannot cool down well, but, it is difficult to say why it blew. was it really hot when it happened? was ESC itself hot to the touch? was it during the flight or at the initial lipo cord connection?
implementation of telemetry is not dependent upon type of the controller - it simply goes to the serial port. i stopped using heavy controllers quite long time ago - all the new stuff is more interesting that that.
like this one: https://instapiks.com/media/B_C4D8Pn042