I had same problems before, after I made all exactly like described in wiki. After each step do the copy/paste all #defines *** to "all parametrs section" and save parametr file. From step 3 every step use the previouse step parametrs from file. In step 3 it is normal that mae swing ... in time it come lower and lower. You have to wait for finish step 3, for my files it took ~15min every next step you can stop at any time, copy-paste-save and make next.
I made express dynamic calibration ~2min in the room and relatively short calculations. Now my quadra flying, it is lazy and has huge inertion but seems it have to be PID tuned.