Because I’ve received few requests to share iNav configuration that allowed performance like showed here and here, below you can find most important parts of my configuration. I’ve removed some parts like AUX, serial configuration, MAG and ACC calibration. They are mostly iNav defaults, no special tweaking was made. I hope this will help.

Please do not copy blindly, rather use for comparison.

# mixermixer QUADXmmix resetsmix reset# featurefeature -RX_PPMfeature -VBATfeature -INFLIGHT_ACC_CALfeature -RX_SERIALfeature -MOTOR_STOPfeature -SERVO_TILTfeature -SOFTSERIALfeature -GPSfeature -FAILSAFEfeature -SONARfeature -TELEMETRYfeature -CURRENT_METERfeature -3Dfeature -RX_PARALLEL_PWMfeature -RX_MSPfeature -RSSI_ADCfeature -LED_STRIPfeature -DISPLAYfeature -ONESHOT125feature -BLACKBOXfeature -CHANNEL_FORWARDINGfeature RX_PPMfeature VBATfeature SOFTSERIALfeature GPSfeature FAILSAFEfeature TELEMETRYfeature ONESHOT125feature BLACKBOX# beeperbeeper  GYRO_CALIBRATEDbeeper  RX_LOSTbeeper  RX_LOST_LANDINGbeeper  DISARMINGbeeper  ARMINGbeeper  ARMING_GPS_FIXbeeper  BAT_CRIT_LOWbeeper  BAT_LOWbeeper  GPS_STATUSbeeper  RX_SETbeeper  ACC_CALIBRATIONbeeper  ACC_CALIBRATION_FAILbeeper  READY_BEEPbeeper  MULTI_BEEPSbeeper  DISARM_REPEATbeeper  ARMEDbeeper  SYSTEM_INITbeeper  ON_USBset looptime = 2000set emf_avoidance = OFFset i2c_overclock = OFFset gyro_sync = OFFset gyro_sync_denom = 2set mid_rc = 1500set min_check = 1100set max_check = 1900set rssi_channel = 6set rssi_scale = 30set rssi_ppm_invert = OFFset rc_smoothing = ONset input_filtering_mode = OFFset min_throttle = 1095set max_throttle = 1850set min_command = 1000set servo_center_pulse = 1500set 3d_deadband_low = 1406set 3d_deadband_high = 1514set 3d_neutral = 1460set 3d_deadband_throttle = 50set motor_pwm_rate = 400set servo_pwm_rate = 50set disarm_kill_switch = ONset auto_disarm_delay = 5set small_angle = 25set reboot_character = 82set gps_provider = UBLOXset gps_sbas_mode = EGNOSset gps_nav_model = HIGH_Gset gps_auto_config = ONset gps_auto_baud = ONset inav_accz_unarmedcal = ONset inav_use_gps_velned = ONset inav_gps_delay = 200set inav_gps_min_sats = 6set inav_w_z_baro_p =  1.000set inav_w_z_gps_p =  0.300set inav_w_z_gps_v =  0.300set inav_w_xy_gps_p =  1.000set inav_w_xy_gps_v =  2.000set inav_w_z_res_v =  0.500set inav_w_xy_res_v =  0.500set inav_w_acc_bias =  0.010set inav_max_eph_epv =  1000.000set inav_baro_epv =  100.000set nav_use_midthr_for_althold = ONset nav_extra_arming_safety = ONset nav_user_control_mode = ATTIset nav_position_timeout = 5set nav_wp_radius = 300set nav_max_speed = 300set nav_manual_speed = 500set nav_manual_climb_rate = 200set nav_landing_speed = 200set nav_emerg_landing_speed = 500set nav_min_rth_distance = 500set nav_rth_tail_first = OFFset nav_rth_alt_mode = AT_LEASTset nav_rth_altitude = 1000set nav_mc_bank_angle = 30set nav_mc_hover_thr = 1500set nav_mc_min_fly_thr = 1200set nav_fw_cruise_thr = 1500set nav_fw_min_thr = 1300set nav_fw_max_thr = 1900set nav_fw_bank_angle = 30set nav_fw_climb_angle = 20set nav_fw_dive_angle = 15set nav_fw_pitch2thr = 20set nav_fw_loiter_radius = 3000set serialrx_provider = SPEK1024set spektrum_sat_bind = 0set telemetry_switch = OFFset telemetry_inversion = ONset frsky_default_lattitude =  0.000set frsky_default_longitude =  0.000set frsky_coordinates_format = 0set frsky_unit = IMPERIALset frsky_vfas_precision = 0set hott_alarm_sound_interval = 5set battery_capacity = 0set vbat_scale = 110set vbat_max_cell_voltage = 43set vbat_min_cell_voltage = 33set vbat_warning_cell_voltage = 35set current_meter_scale = 400set current_meter_offset = 0set multiwii_current_meter_output = OFFset current_meter_type = ADCset align_gyro = DEFAULTset align_acc = DEFAULTset align_mag = CW180FLIPset align_board_roll = 0set align_board_pitch = 0set align_board_yaw = 900set gyro_lpf = 98HZset moron_threshold = 32set imu_dcm_kp = 2500set imu_dcm_ki = 50set imu_dcm_kp_mag = 10000set imu_dcm_ki_mag = 0set pos_hold_deadband = 10set alt_hold_deadband = 50set yaw_control_direction = 1set yaw_motor_direction = 1set yaw_jump_prevention_limit = 100set tri_unarmed_servo = ONset servo_lowpass_freq = 400set servo_lowpass_enable = OFFset failsafe_delay = 10set failsafe_off_delay = 200set failsafe_throttle = 1400set failsafe_kill_switch = OFFset failsafe_throttle_low_delay = 100set failsafe_procedure = RTHset rx_min_usec = 885set rx_max_usec = 2115set acc_hardware = 0set baro_hardware = 0set mag_hardware = 0set blackbox_rate_num = 1set blackbox_rate_denom = 6set blackbox_device = SPIFLASHset nav_alt_p = 50set nav_alt_i = 0set nav_alt_d = 0set nav_vel_p = 100set nav_vel_i = 50set nav_vel_d = 10set nav_pos_p = 65set nav_pos_i = 120set nav_pos_d = 0set nav_posr_p = 160set nav_posr_i = 15set nav_posr_d = 110set nav_navr_p = 14set nav_navr_i = 2set nav_navr_d = 8set deadband = 5set yaw_deadband = 5set throttle_tilt_comp_str = 0set yaw_p_limit = 300set default_rate_profile = 0set gimbal_mode = NORMALset baro_tab_size = 7set baro_noise_lpf =  0.350set mag_declination = 350set p_pitch = 73set i_pitch = 80set d_pitch = 75set p_roll = 59set i_roll = 75set d_roll = 75set p_yaw = 110set i_yaw = 40set d_yaw = 0set p_level = 65set i_level = 10set d_level = 75set max_angle_inclination = 300set gyro_soft_lpf_hz = 60set acc_soft_lpf_hz = 15set dterm_lpf_hz = 30set rc_rate = 90set rc_expo = 70set rc_yaw_expo = 20set thr_mid = 50set thr_expo = 0set roll_rate = 10set pitch_rate = 10set yaw_rate = 0set tpa_rate = 0set tpa_breakpoint = 1500