What battery packs are you using? 3s 5200mAh packs or maybe 6s 5200mAh packs?
To increase your turning angle, you can change MIXING_GAIN from 0.5 to 0.7. Be sure to have sufficient speed after transition before turning with too much angle.
What is your current Q_TILT_RATE_DN setting? I didn't get a chance to play with mine but Tridge mentioned that you could increase it from 20 degrees per second to 40 for a faster transition. Try using 30 degrees per second first.
Hopefully, Tridge will see your video and comment.