Sorry for the crappy edit, I just wanted to quicky pulish this. It's on stock settings as I got the quad. Reviewers all over have given this one real bad reviews, I see nothing wong with it. It should fly even better on Betaflight 3.4 (3.1.7 is on stock). Here is the stock setup (important part):
set motor_pwm_protocol = DSHOT600
set setpoint_relax_ratio = 30
set d_setpoint_weight = 200
set p_pitch = 20
set i_pitch = 60
set d_pitch = 22
set p_roll = 18
set i_roll = 60
set d_roll = 21
