Tarot 450 Tuning

my rate desired and actual rate are consistently offset.

I would expect rate and rate desired to have different peek amplitudes but not a consistent offset.
BIN Log https://drive.google.com/file/d/1Hgsd0jd57jJFnu73EGRQWPNG73FlB4JW/view?usp=sharing

Another Image

I thought this was a quad, not a helicopter. My comments were wrong.

@rocketstrong you have to add some ATC_RAT_RLL_ILMI and ATC_RAT_RLL_ILMI. I suggest 0.08. Just remember that if you land on uneven ground then the rotor disk will tilt now. This amount of ILMI should not cause any problems though. I would not increase it any higher than what I have suggested.