Ok, I further isolated the controller and it seems to have an effect. I haven’t tried isolating the #4 quad yet (where these last logs were from) but I’ll try that shortly. I also tried these PID parameters out on our #3 quad and it seems very responsive in the air. I do like the way this feels. Unfortunately, I was getting pretty bold towards the end of the flight and while trying out RTL it went into a severe oscillation and crashed. Nothing a little 3D print can’t fix though.
Here’s the log with those parameters: https://drive.google.com/file/d/1NFceSFd_AXjPNd8ATmLump9kgWP5lJS-/view?usp=sharing
Note that INS_GYRO_FILTER was set to 20 previously - I updated it to 22 for this flight