If possible, update your firmware to the latest. I’m not sure about this Crossflight controller so I don’t know if that’s an option.
Fix the vibrations, they are too high. This will need to be done before any tuning fixes can really make a difference.
Once that’s sorted then work through the process here: https://discuss.ardupilot.org/t/how-to-methodically-configure-and-tune-any-arducopter/110842 and update the tune.