OK, set these:
INS_HNTCH_ENABLE,1 ← set this then refresh params to see the rest
INS_HNTCH_MODE,1
INS_HNTCH_REF,0.2
INS_HNTCH_FREQ,76
INS_HNTCH_BW,38
INS_LOG_BAT_OPT,2
There’s a noise at about 64Hz (as well as the one targeted at 76 Hz) so lets see if the above settings knock it out too. Otherwise we can add another HNOTCH, or the twisted motor mount issue might solve it.
You’ve still got Motor 3 and 4 (Clockwise spin) working harder than motors 1 and 2 (Counter-Clockwise) to fight against some physical yaw bias. This is usually motor mounts slightly twisted on the arms. It’s not ideal but it’s not end of the world either.
There’s some oscillation of motor outputs and yaw at arming - do you think it’s because of long or flexible landing gear?
I would probably set these too and do another test flight
ATC_ANG_RLL_P,6.0
ATC_ANG_PIT_P,6.0
ATC_ANG_YAW_P,5.0
ATC_RAT_RLL_P,0.12
ATC_RAT_RLL_I,0.12
ATC_RAT_RLL_D,0.0075
ATC_RAT_PIT_P,0.12
ATC_RAT_PIT_I,0.12
ATC_RAT_PIT_D,0.0075
PSC_POSXY_P,0.5
PSC_VELXY_D,0.25
PSC_VELXY_I,0.5
PSC_VELXY_P,1.0
PSC_POSXY_P,0.5
PSC_VELXY_D,0.25
PSC_VELXY_I,0.5
PSC_VELXY_P,1.0
BATT_FS_CRT_ACT,1
BATT_FS_LOW_ACT,2