Testing out Luxfloat V2 PID controller RAW

Just a quick RAW video of my first flight with BorisB version of Cleanflight Luxfloat PID controller with filters.
This FW has transformed my quad, super locked in and precise.
More here:
Cloenout 250 frame, on 3s Nanotech,
Sunnysky 2204-2300kv motors with 5040 Gemfan props
Naze32 controller
Settings
set pid_controller = 2
set looptime = 1500 (for my Naze32)
set p_pitchf = 1.400
set i_pitchf = 0.550
set d_pitchf = 0.035
set p_rollf = 1.100
set i_rollf = 0.350
set d_rollf = 0.027
set p_yawf = 3.000
set i_yawf = 1.000
set d_yawf = 0.005
set gyro_lpf = 42
set gyro_cut_hz = 0
set pterm_cut_hz = 0
set dterm_cut_hz = 0
set rc_rate = 100
set rc_expo = 70
set rc_yaw_expo = 40
set thr_mid = 80
set thr_expo = 0
set roll_rate = 47
set pitch_rate = 47
set yaw_rate = 40
set tpa_rate = 50
set tpa_breakpoint = 1500