Vibration = bad
Especially Z axis, which is the axis that will give you most trouble.
I advise NOT to fly again until you’ve taken some positive steps to reduce the vibrations. You do not want to risk a fly-away, although vibrations are not the worst we’ve ever seen (by a long way).
These big copters are too expensive to take chances with.
Motors are hitting minimums while trying to maintain stability
Set these for additional tuning
INS_HNTCH_ENABLE,1 ← set this then refresh params to see the rest
INS_HNTCH_REF,0.20 ← will need adjustment
Current sensing is wrong, see if you can fix that, it’s very handy to have. Or dont worry about it if you are just using the power brick for voltage. In that case set BATT_MONITOR,3
Set BRD_BOOT_DELAY,3000 to ensure those GPS units are detected properly.
Position fix and reliability might be better with
Definitely set these
BATT_FS_LOW_ACT,2 or 3
A GPS 3D Fix and setting Home can take a while, but that is better than the copter disappearing over the horizon when it tries to RTL
When you do fly next the Hover Trust will take some relearning, so just hover around in AltHold for a while and let it find the new hover value. Then try Loiter and some gentle movements.
Let’s see the .bin log file.