Raw - DODO - Boris B Hex - 2300Kv - Sn20 - BLheli14

This video shows the last flight of my tuning session to dial in my seriously dod flight controller that is running the Boris B branched hex file and the associated filtering.
You can clearly see how on fast snap yaw moves you don't get any of the wobble that used to be created by your prop wash. The dodo has made flight very smooth
Boris has done some really good work on this branch of the HEX, PID2 now feels like 1 used to except much tighter and dialled in, couple that with super smooth turns from the filtering and you have a fantastic quad to fly
I'll paste bits of my dump file below so pick and chose the stuff you want
its a Blackout mini H 5"
SN20 escs running Blheli 14 with one-shot
2300kv cobra motors
bullnose props
Blehli settings here
#
dump
# version
# Cleanflight/SPRACINGF3 1.9.0 Jul 10 2015 / 06:04:26 (1c01daf)
# dump master
# mixer
mixer QUADX
feature VBAT
feature RX_SERIAL
feature MOTOR_STOP
feature SERVO_TILT
feature FAILSAFE
feature ONESHOT125
feature BLACKBOX
set looptime = 800
set emf_avoidance = 0
set mid_rc = 1500
set min_check = 1020
set max_check = 1900
set rssi_channel = 0
set rssi_scale = 30
set rssi_ppm_invert = 0
set input_filtering_mode = 0
set min_throttle = 1080
set max_throttle = 2000
set min_command = 1000
set servo_center_pulse = 1500
set 3d_deadband_low = 1406
set 3d_deadband_high
= 1514
set 3d_neutral = 1460
set 3d_deadband_throttle = 50
set motor_pwm_rate = 400
set servo_pwm_rate = 50
set retarded_arm = 0
set disarm_kill_switch = 1
set auto_disarm_delay = 5
set small_angle = 25
set flaps_speed = 0
set fixedwing_althold_dir = 1
set reboot_character = 82
set gps_provider = 0
set gps_sbas_mode = 0
set gps_auto_config = 1
set gps_auto_baud = 0
set serialrx_provider = 2
set spektrum_sat_bind = 0
set telemetry_switch = 0
set telemetry_inversion = 0
set frsky_default_lattitude = 0.000
set frsky_default_longitude = 0.000
set frsky_coordinates_format = 0
set frsky_unit = 0
set frsky_vfas_precision = 0
set hott_alarm_sound_interval = 5
set battery_capacity = 0
set vbat_scale = 110
set vbat_max_cell_voltage = 43
set vbat_min_cell_voltage = 33
set vbat_warning_cell_voltage = 35
set current_meter_scale = 400
set current_meter_offset = 0
set multiwii_current_meter_output = 0
set current_meter_type = 1
set align_gyro = 0
set align_acc = 0
set align_mag
= 0
set align_board_roll = 0
set align_board_pitch = 0
set align_board_yaw = 0
set max_angle_inclination = 500
set gyro_lpf = 256
set moron_threshold = 32
set gyro_cmpf_factor = 600
set gyro_cmpfm_factor = 250
set yaw_control_direction = 1
set pid_at_min_throttle = 1
set yaw_direction = 1
set yaw_jump_prevention_limit = 300
set tri_unarmed_servo = 1
set servo_lowpass_freq = 400
set servo_lowpass_enable = 0
set failsafe_delay = 10
set failsafe_off_delay = 200
set failsafe_throttle = 1000
set rx_min_usec = 985
set rx_max_usec = 2115
set acc_hardware = 0
set mag_hardware = 0
set blackbox_rate_num = 1
set blackbox_rate_denom = 1
set blackbox_device = 1
# dump profile
# profile
profile 0
set gps_pos_p = 15
set gps_pos_i = 0
set gps_pos_d = 0
set gps_posr_p = 34
set gps_posr_i = 14
set gps_posr_d = 53
set gps_nav_p = 25
set gps_nav_i = 33
set gps_nav_d = 83
set gps_wp_radius = 200
set nav_controls_heading = 1
set nav_speed_min
= 100
set nav_speed_max = 300
set nav_slew_rate = 30
set alt_hold_deadband = 40
set alt_hold_fast_change = 1
set deadband = 0
set yaw_deadband = 0
set throttle_correction_value = 0
set throttle_correction_angle = 800
set default_rate_profile = 0
set gimbal_flags = 1
set acc_lpf_factor = 4
set accxy_deadband = 40
set accz_deadband = 40
set accz_lpf_cutoff = 5.000
set acc_unarmedcal = 1
set acc_trim_pitch = 0
set acc_trim_roll = 0
set baro_tab_size = 21
set baro_noise_lpf = 0.600
set baro_cf_vel = 0.985
set baro_cf_alt = 0.965
set mag_declination = 0
set pid_controller = 2
set p_pitch = 40
set i_pitch = 30
set d_pitch = 23
set p_roll = 40
set i_roll = 30
set d_roll = 23
set p_yaw = 85
set i_yaw = 45
set d_yaw = 0
set p_pitchf = 2.800
set i_pitchf = 0.400
set d_pitchf = 0.040
set p_rollf = 1.600
set i_rollf = 0.300
set d_rollf = 0.030
set p_yawf = 3.000
set i_yawf = 0.600
set d_yawf = 0.015
set level_horizon = 3.000
set level_angle = 5.000
set sensitivity_horizon
= 75
set p_alt = 50
set i_alt = 0
set d_alt = 0
set p_level = 90
set i_level = 10
set d_level = 100
set p_vel = 120
set i_vel = 45
set d_vel = 1
set yaw_p_limit = 500
set gyro_cut_hz = 100
set pterm_cut_hz = 60
set dterm_cut_hz = 17
# dump rates
# rateprofile
rateprofile 0
set rc_rate = 95
set rc_expo = 71
set rc_yaw_expo = 36
set thr_mid = 50
set thr_expo = 0
set roll_rate = 55
set pitch_rate = 55
set yaw_rate = 45
set tpa_rate = 0
set tpa_breakpoint = 1500
#
my current quad setups can be found at /