Stuck Like Chuck

I've been struggling with the tune. As it turned out I think I had a bad frame. Thanks to the Black Box logging I could see that there was a tremendous amount of noise being passed through the frame (I guess) I moved the motors to another frame and it has been rock solid. Tune still needs some work but low pass is set to PT1 and both notch filters are off.

Setup:
QAV-X
F40 Pro 2400kv
DYS XSD20
BetaFlight F3
HS1177
TSB Unify Pro 5v
Axii RHCP
1.8mm
RK5051
GoPro Session 4