I have reached the Harmonic Notch filtering step in the copter docs and am unsure how to interpret the frequency amplitude graph. There are some peaks its pretty chaotic, is it simply too noisy?
With that thrust/weight set the Rate Pitch/Roll P&I values to ~0.07 and drop the D term in half. Or maybe lower but try that 1st. And you want ESC RPM as reference for the Notch filter either with Bdshot or serial telemetry if the ESC and FC supports it.
You could start over using The Configurator or continue with manual tuning if you know what to do.
Currently running dshot600 on the escs I cant seem to connect to them to update them to use bdshot. Im running the speedybee f405 stack, unsure if its esc supports telemetry.
If they are BLHeli_S you may be able to flash Bluejay firmware and use Bdshot. But, I wouldn’t use a Speedybee Flight Controller for anything so not sure.
The outputs look good. These parameters for the notch filter should work well. You want to use Webtools to configure and analyze the notch filter: Webtools