I notice you didn't have GPS lock. At the moment that means it will be using DCM, not EKF. I think we need to change that. That log is mostly FBWA mode, with just 12 seconds of QHOVER, and I see large discrepencies between attitude estimation between EKF and DCM for that time. I don't think you necessarily have a tuning problem, I think the most obvious issue is in state estimation.
There are probably tuning issues too, but if attitude estimation is off you can't tune.