You're starting to end up with what it took me several weeks to get "right" as far as your rate settings.
Just for your info, you can set these to tune your stabilize collective curve
The #1 param sets the bottom of the collective, #2 sets it at about the 40% stick postion, #3 at about the 60% stick position, and #4 is the max. The idea is to get it to hover at mid-stick and the closer you set #2 and #3 together, the flatter the collective curve is at mid-stick in stabilize flight mode. It's a good idea to get it to hover at mid-stick, otherwise when you switch to the Altitude controlled modes you're going to get a big jump in collective pitch and the helicopter will either go up down quite quickly.
I just noticed those were still set to the defaults, so thought I'd mention that.