Betaflight 4.0

This is the smoothest this quad has flown yet! It is basically a budget build. Martian 4 inch body with 6 inch arms. FC is CLRacing F4S using a 4-in-one DYS 35amp ESC. The motors are the good old cheap Emax Red Bottoms with the solid shaft. It has been plagued with mid-throttle oscillations until now after I flashed Betaflight 4.0 and pasted into the CLI UAV Tech, Mark Spatz's recommended filter settings for a 5 inch quad found here at https://github.com/betaflight/betafli... . His video caught me at just the right time when I was feeling frustrated with Betaflight. But I am now very impressed with Betaflight again! You can see his video at https://www.youtube.com/watch?v=-27Dl... .