Good Job Ben!
The problem with the ESC and gyro initialisation seems to be a commoon problem. The way people have got aroud that form what I have read up on it the have seperate power switches forthe ESC's. That way you power up in two stages, stage 1 connect battery, and have power to the reciver and the gyro's. The or course require now that you have a seperate BEC and not use the BEC outputs form the ESC's. Once the Gyro have initialised (and yes you have to have this with mid stick set) then you can lower the throttle and then power up the ESC's. This will also allow you to set the throttle range on the ESC's when you first put it all together.
The thrust is very high form the setup and you certainly need to have matched parts as it would be very easy to get out of balance. A low KV moter and a quick ESC are vital. Some people who have used the Tower Pro ESC have bypassed some of the damping circuits on the ESC and others have recoded the firmware on others to get the performance. I will have to wait for my bits to turn up be fore I can actually test this out.
This video shows the problem well...
Testing a single channel on the bench it seems ok but will only know for sure when it's all together. Another thign that may help is to have longer booms, about 24 inches seems the upper reaches, and with 16 at the lower end before you have to resort to specific flight stabilisation systems like the Flymentor and Copliot, and another thing to watch for the the dreaded vibs as these will also cause issues and alot of the ones I have read up on, have the motors cable clipped to the frames and a rubber isolator also installed under the motor to keep the gryo platform isolated for the noise, just like heli's really
so the normal rules still appply when setting up and fault finding. The morot mounting I plan to use is a rubber pad and nylocks on the bolts so the motor is actualy bolted on but still has a rubber isolator under it.