I am so sorry I did not state copter was tied down looking for motor issue at first.
Not sure If log shows near end I changed to full bat and was checking normal lift off slowly and quad wanted to tip forward . Did not try to fly.
Ken
Not sure what you were testing then (Crash?). If you have done all the Initial Parameter settings, and it looks like you have, and Motor Test for proper order, then fly it and move along with the tuning process.
Set INS_LOG_BAT_MASK to 1 to prepare for configuring the Notch filter. Also you want MOT_SPIN_MIN to be a bit higher than MOT_SPIN_ARM
I can’t think of good reason to tie down a multirotor for any purpose.