Basically, according to him, all you have to do in BetaFlight is the following:
- Enable "I Term Relax" (a new feature in Betaflight 3.5).
- Leave the "I Term Relax" options at their defaults. This helps to reduce i-term blowouts
- Lower the Yaw P to 65 and increase Feed Forward (another BF 3.5 feature) to 96/96/100 for roll/pitch/yaw (respectively). This preserves the same responsive feel but reduces oscillations!
He did also a good video about that:
And he did also a good writeup with lot of details !