Could you add support for Naze32 Acro/Full rev.5? I found Taulabs fly much better than five pid controllers in Cleanflight firmware.
Yes that´s right you have to use the sixed one - PID controller 5 Harakiri I´m flying the Harakiri firmware on Naze since 2013 and for me there is no need to change it there.
To use TL why not take a cheep cc3d. It has the better connection of the MPU, SPI, and on a F1 You don´t get Altitude or GPS to work?