I'm having trouble getting yaw dialed in. With small stick inputs the aircraft is flyable, but with large yaw inputs it wants to pitch and roll violently, and climb too. I assume that I'm making a noob mistake. I come from Pixhawk and autotune. Manual PID tuning is new to me.
The OpenPilot forums and Wiki are no longer in operation, so I'm lacking sources of information. I've read tutorials and watched YouTube videos. Nobody talks about yaw tuning, only pitch and roll.
My current PID values are in the attached image. The aircraft is a Chinese TBS Discovery copy, with DJI E300 power system.
Any idea what I might be doing wrong?