I did the ATC_RAT_PIT_FILT and RLL_FILT to 10 Hz, did reduce the RC_Feel and performed AutoTune on Roll, Pitch and Yaw. The result is astonishing. After attaching a new Battery, i recognized some jitter, and I think I will reduce Rate_P on Roll and Pitch some ticks.
On Yaw, I still have bigger problems, when I do quicker Yaw-Movements (more tan 90° per second), the copter does significantly loose height.
Maybe I can correct this with POS_Z_P?
I think thats this value here?
Those are my new autotuned parameters by the way.
@Leonardthall could it be that a reduce on FILT Rate Yaw could help?