I think I would be the last person on the planet who would move from MK to DJI, but, it happened. Now using two A2 based copters, I would like to thank Michael McVay, Dave King and Kate Nelhams-Wright for their great input and help. First decision was to move WKM with IMU v2 but I couldn't source it locally; so we evaluated A2 for a while and moved two heavy lift copters to DJI A2 based system. First copter: KDE 5215-435KV KDE 75A ESCs (These are very heavy duty ESCs) Second copter: KDE 5215-435KV Herkules III v3 DJI and MK flies quite differently. DJI flies more straight, easier to keep it on the rail. More like a tank. For instance, ascending and descending speeds are limited by the software on DJI A2: 6m/s for ascending. With MK, when you give the full throttle, it rockets to the sky. With A2, no way for this. A2 holds the position better in wind, easier to configure. RTH works much easier. With MK you need to set tons of parameters. The telemetry is a serious issue. For now, I'm using iOSD MK II. With Herkules III, it's possible to get a better telemetry about battery, current and ESC temp. I need to get proper accessory for Herkules to make it work. I had tons of flight and I am very happy in terms of flight characteristics. I'm keeping my other MK copters, but they will be powered by Herkules III ESC. What did MK do wrong and I had to move to DJI as a FC system? I needed a better ESC. Even with Herkules III, in summer time, it's impossible to fly it with heavy payload. It gets very hot. And I don't have the courage to try PWM to I2C converters since I see them as a weak link in the chain. To fly a Alexa Mini with a hefty lens like Master Primes, + FIZ control, no way to fly them with regular MK based system safely in all conditions unless you build a X12 system with Herkules III.