well unless you have tuned it in QHOVER, you cant expect VTOL flight to work, especially for QLOITER or horizontal velocity moves…I notice you have no FF on the roll pids…being a non vectored tailsitter relying totally on control surfaces for control in all three body frame axes when VTOL, they all need FF…try .2 for q_a_rat_rll_ff
then in QHOVER do hard stick pulses in both direction in all axes, one at a time…from that log we can determine the exact correct FF for each axis ( the sum of PIQx.P,I,and D should equal PIQx.Act*the FF amount for each axis)…once FF is tuned, then you can raise D up until you see tiny oscillations, and then reduce by 1/3…then raise P up until oscillations and reduce by 1/3…should get you close…then you can check QLOITER