Still Having Issues With Flight

I have not been able to truly fly this Xcopter yet.  I have hovered it a few times in the garage and that is about as close as I have gotten to really flying this thing.  I'm having a heck of a time getting my rudder input to work correctly.  I think I have a combination of a few issues.

1. I don't think my ESC's are programmed correctly.

2. My 7.4v 2 cell lipo battery is not cutting it.

3. I'm unsure my Yaw gyro is set to the correct direction and my rudder has to be reversed on my Spektrum radio, so it arms in the opposite direction of the KK setup instructions.

I ordered a 3cell 2200ma 11.1v battery from hobbypartz.com.

I also just ebayed a Turnigy ESC program card.  Maybe that will aid me to getting all the ESC settings correct.

I have also been experimenting with several firmwares for the KKmulticontroller blackboard,  mine has a Atmel 168PA chip.

I'm running the "X" 2.0 version found here  http://www.kkmulticopter.com/index.php?option=com_content&view=article&id=170:xxcontroller-kr-version-minsoo-kim-mod&catid=58:firmware-downloads&Itemid=65

That is the only firmware that I have been able to get the bird to hover with, and use the term hover lightly.  It is more like a mad scramble to keep it from flipping or crashing into a wall.  I'm very frustrated with this project at this point.  So I'm just going to put it away for a week while my stuff shows up.

I also have a slow motor, my  #4 motor seems to lag behind.