so I tried to fly it again with 1919
I noticed some very strong yaw corrections the quad would do by itself , after take off especially but also after the first yaw inputs
so I thought it was the deadband I put to zero and put it back to 40
I also changed the smoothing filter (low and high) to see what happens
thats when things got totally random again,...sometimes heavy yaw corrections in opposite direction of stick input(again all in between the deadband)
so it seams something is seriously wrong with those parameters
I really hope you can find the problem