I use raceflight FC
Set Gyro 32k PID loop16k
See noise on blackbox in debug mode=notch
My diff on cli
# feature
feature AIRMODE
feature ANTI_GRAVITY
feature DYNAMIC_FILTER
# master
set gyro_notch1_hz = 0
set gyro_notch2_hz = 0
set gyro_stage2_lowpass_hz = 430
set gyro_use_32khz = ON
set acc_hardware = NONE
set mag_hardware = NONE
set baro_hardware = NONE
set min_check = 1010
set serialrx_provider = CRSF
set blackbox_device = SPIFLASH
set use_unsynced_pwm = ON
set motor_pwm_protocol = MULTISHOT
set motor_pwm_rate = 32000
set align_board_roll = 180
set deadband = 5
set yaw_deadband = 7
set pid_process_denom = 2
set debug_mode = NOTCH
set cpu_overclock = 192MHZ
# profile
profile 0
set dterm_lowpass_type = PT1
set dterm_notch_hz = 0
set dterm_setpoint_weight = 180
set p_pitch = 62
set i_pitch = 55
set p_roll = 45
set i_roll = 45
set p_yaw = 75
# rateprofile
rateprofile 0
set thr_mid = 10
set thr_expo = 25
set roll_rc_rate = 155
set pitch_rc_rate = 155
set yaw_rc_rate = 140
set roll_expo = 15
set pitch_expo = 15
set yaw_expo = 15
set roll_srate = 75
set pitch_srate = 75
set yaw_srate = 75
