Great, we’re actually getting somewhere 
Attitude control is actually close to being OK.
The problem is the noise, and motor outputs are oscillating, making that noise you can hear
You will need these Harmonic Notch Filter settings:
INS_HNTCH_MODE,1
INS_HNTCH_BW,20
INS_HNTCH_FREQ,53
INS_HNTCH_FM_RAT,0.7
INS_HNTCH_HMNCS,3
INS_HNTCH_REF,0.26
INS_HNTCH_OPTS,0
For this result:
You can see there is still that 27Hz noise - is there something that could be vibrating, like a GPS mast or some wiring? Or some electronic module with a fan on it?
Is the camera gimbal powered off and locked in place?
If you can identify that and fix that, you will make a great improvement to vibrations and likely eliminate a lot of that motor noise.
I would try to fix that vibration, then so a short test flight with those notch filter settings and see what we get before making further changes.
Have you got a photo of the flight controller and the wiring around it?