These do not look like successfully autotuned numbers.Roll looks high (but my 960 started off in the .66 region before dropping to .44.But Pitch is set exactly the same as Yaw ( Nope - I is set at 2 and not 0.2).Somehow those numbers have got corrupted.I suggest investigating around there first.Those numbers could explain why three of the motors were bottoming out in flight.And why it flew like a turkey.
PARM, 61260221, ATC_RAT_RLL_P, 0.7362748
PARM, 61260262, ATC_RAT_RLL_I, 0.7362748
PARM, 61260305, ATC_RAT_RLL_D, 0.03575641
PARM, 61260349, ATC_RAT_RLL_IMAX, 0.5
PARM, 61260393, ATC_RAT_RLL_FILT, 20
PARM, 61260437, ATC_RAT_RLL_FF, 0
PARM, 61260824, ATC_RAT_PIT_P, 2
PARM, 61260873, ATC_RAT_PIT_I, 2
PARM, 61261052, ATC_RAT_PIT_D, 0.2
PARM, 61261102, ATC_RAT_PIT_IMAX, 0.5
PARM, 61300831, ATC_RAT_PIT_FILT, 20
PARM, 61300882, ATC_RAT_PIT_FF, 0
PARM, 61300941, ATC_RAT_YAW_P, 2
PARM, 61300995, ATC_RAT_YAW_I, 0.2
PARM, 61301059, ATC_RAT_YAW_D, 0
PARM, 61301120, ATC_RAT_YAW_IMAX, 0.5
PARM, 61301612, ATC_RAT_YAW_FILT, 5
PARM, 61301674, ATC_RAT_YAW_FF, 0
Your VCC varies a bit wildly.You could really do with some current monitoring in a beast like that.
The abnormal temperature of the IMU ? They are heated ?