QAV250 FPV Race in woods - REVISITED

HI! thanks. I am flying in Rattitude mode with 500 deg/s, and 300 for yaw (axislock) Atti/deg: is 150 and 160 for yaw My PID is P .00365 .00365 .00450 I .00400 .00400 .00500 D .000025 .000025 .000000