7" Quad: iNav 1.8.0 testing RTH, Pos Hold & more

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Rebuild of my 7" Quad. Switched from Betaflight to iNav, added GPS for Return To Home functionality. Everything works fine, iNav is awesome firmware.
Not to happy with the overall flight performance, it's a bit twitchy here and then. Not a big issue in flight but doesn't look good in the HD footage. I will do a black box log and see if I can tweak the PIDs and Notch filters to get rid of this.
Full Setup:
Custom made frame with double arms ~120g
Emax MT2208II 1500kv motors: No link, hard to find, try at aliexpress
HQProp 7x3.5x3 V1S Durable Propeller: flyduino.net
Racerstar RS30A V2 ESC:
Matek Power Hub:
F3 AIO V1.1 FC OSD Baro SD-Slot (Omnibus Clone):
Ublox NEO-M8N GPS:
TBS Crossfire Micro RX V2
Runcam Swift 2 2.1mm Lens:
Foxeer 5.8G 40CH TM25 SWITCHER 25/200/600mW:
Foxeer Antenna:
Xiami Yi Action Cam running Waffle SuperView Script
2200mAh 4s Nano-Tech Battery
Music by Joakim Karud
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