It seems like you had some other problem with the ESC's as the motors were pulsing the whole time which would suggest maybe wrong timing.
ive upped my gains and i seem to get better performance, dunno what i have it set at now but i think its 120( or 130)- 135- 120-120 then 85 or 90 for the atti.
in atti i can get the banking turns working quite well![]()