You are tuning a 5" FPV racing quad. Below is a summary of a...

Prompt

You are tuning a 5" FPV racing quad. Below is a summary of a Betaflight 4.5 blackbox log and the relevant part of the diff all. Diagnose the tune and give me changes. Setup: 5" freestyle-race frame, Xnova 2207 2100Kv, HQ 5x4.3x3, 6S 1300mAh, F7 FC, gyro logged at 8 kHz, ESC AM32, no RPM filtering telemetry on motor 3. Blackbox summary (2:40 flight, racing laps): Gyro roll noise: broad peak ~110 Hz (amplitude 38), narrower peak ~215 Hz (amplitude 21), smaller at ~330 Hz Gyro pitch noise: same 110 Hz peak (amplitude 44), plus a peak at ~62 Hz only present during high-throttle straights D-term roll spectrum: dominant energy 180–260 Hz Step response roll: 6% overshoot, settles in 62 ms. Pitch: 14% overshoot, two visible oscillation cycles, settles in 105 ms Motor outputs: motors 1 and 4 hit 100% for 180 ms total across three throttle punches; average motor output 0.51, motor 3 consistently ~7% higher than the others Tracking error spikes to 190 deg/s on pitch during hard flips, roll peaks at 95 deg/s Throttle-correlated noise rises sharply above 0.7 throttle Current config: set gyro_lpf1_static_hz = 250 set gyro_lpf2_static_hz = 500 set dterm_lpf1_dyn_min_hz = 75 set dterm_lpf1_dyn_max_hz = 150 set dterm_lpf2_static_hz = 150 set dyn_notch_count = 3 set dyn_notch_q = 300 set dyn_notch_min_hz = 100 set dyn_notch_max_hz = 600 set rpm_filter_harmonics = 3 set p_pitch = 52 set i_pitch = 90 set d_pitch = 42 set f_pitch = 125 set p_roll = 48 set i_roll = 85 set d_roll = 38 set f_roll = 120 set feedforward_smooth_factor = 25 Answer in this structure: Noise sources — for each peak, say what it most likely is (motor harmonic, frame resonance, prop wash, aliasing) and what in the data supports that. Note anything the data can't distinguish. What's limiting the tune right now — rank the problems by how much they cost lap time or risk hardware. Filter delay vs. noise — state explicitly what added phase delay each filter change costs and why it's worth it here. CLI changes — exact set lines only, each with one line of justification tied to a specific number above. No changes you can't justify from the data. Next test — what to look for in the following log to confirm each change worked, and what would tell you to revert. Do not give generic tuning advice. If something here suggests a hardware fault rather than a tune problem, say so first.