Use this spreadsheet or press ALT A in MissionPlanner to set a few more parameters
What motors and ESCs have you got? If they are T-Motor Flame ESCs then there’s some special considerations (listed in that spreadsheet) and probably keep a fire extinguisher handy
The Harmonic Notch Filter will help a lot too:
HNOTCH phase 1
- hover test >1 minute, check FFT
HNOTCH phase 2
INS_HNTCH_ENABLE,1 <- set this then refresh params to see the rest
INS_HNTCH_FREQ, peak freq from FFT
INS_HNTCH_BW, peak_freq / 2
- hover & dynamic test >1 minute, check FFT results
HNOTCH phase 3
- no extra logging, assumes HNOTCH is working great
In the log the PWM outputs are quite high, and motors 3 and 4 are working harder. This indicates a physical yaw bias caused by motor 1 or 2 not being perfectly level. And it is underpowered/overweight.
As for the shaking and oscillations, start by lowering your ATC_RAT_PIT_D and ATC_RAT_RLL_D to about 0.0075 or 0.008 and see how that goes. You might be able to increase P and I a little.