I went to full parameter list instead of full parameter tree that I normally use, and was able to set ATC_RAT_RLL_P to 0. After correcting the tail linkage I did a 1-minute test hover in calm conditions and the heli was rock steady.
After the flight I tried to compare RATE.RDes and RATE R, as per the first part of the tuning wiki, but there are so many more data points in the R graph that I can’t compare it with RDes. I presume I should set the logging attitude back to medium now to reduce the amount of clutter? Anything else I need to check and/or change before I do some tuning flights at our flying field? For instance, is it safe, or necessary, now to set ATC_RAT_RLL_P to 0.01 as prompted by MP?
Well that clutter is due to the rotor vibration. Did you set the notch filter to remove the rotor vibration? I would keep the fast attitude logging for now.