There is a lot more going on here. There are too many variables to consider at the moment
Is what is shown in the video the actual flight configuration. What concerns me most is what is hanging far below the rotors. if it is heavy or has any mass then it will change the flight characteristics and tuning.
Why are you using max collective when you are doing the test? and why is your H_COL_ANG_MAX set for a max of 13 deg? That is a large collective range.
H_DCP_SCALAR is 0.6. Why did you raise this from the default? Is there analysis behind this?
I am not able to tell this, but have you set up the rotor speed controller correctly? You are setup for RSC Mode 1 which is passthrough. I assume you are using a knob on your transmitter to raise the speed or is that the ESC doing the increase of rotor speed.
Please address my concerns.