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.

# mixer
mixer QUADX
mmix reset
smix reset


# feature
feature -RX_PPM
feature -VBAT
feature -INFLIGHT_ACC_CAL
feature -RX_SERIAL
feature -MOTOR_STOP
feature -SERVO_TILT
feature -SOFTSERIAL
feature -GPS
feature -FAILSAFE
feature -SONAR
feature -TELEMETRY
feature -CURRENT_METER
feature -3D
feature -RX_PARALLEL_PWM
feature -RX_MSP
feature -RSSI_ADC
feature -LED_STRIP
feature -DISPLAY
feature -ONESHOT125
feature -BLACKBOX
feature -CHANNEL_FORWARDING
feature RX_PPM
feature VBAT
feature SOFTSERIAL
feature GPS
feature FAILSAFE
feature TELEMETRY
feature ONESHOT125
feature BLACKBOX


# beeper
beeper  GYRO_CALIBRATED
beeper  RX_LOST
beeper  RX_LOST_LANDING
beeper  DISARMING
beeper  ARMING
beeper  ARMING_GPS_FIX
beeper  BAT_CRIT_LOW
beeper  BAT_LOW
beeper  GPS_STATUS
beeper  RX_SET
beeper  ACC_CALIBRATION
beeper  ACC_CALIBRATION_FAIL
beeper  READY_BEEP
beeper  MULTI_BEEPS
beeper  DISARM_REPEAT
beeper  ARMED
beeper  SYSTEM_INIT
beeper  ON_USB

set looptime = 2000
set emf_avoidance = OFF
set i2c_overclock = OFF
set gyro_sync = OFF
set gyro_sync_denom = 2
set mid_rc = 1500
set min_check = 1100
set max_check = 1900
set rssi_channel = 6
set rssi_scale = 30
set rssi_ppm_invert = OFF
set rc_smoothing = ON
set input_filtering_mode = OFF
set min_throttle = 1095
set max_throttle = 1850
set min_command = 1000
set servo_center_pulse = 1500
set 3d_deadband_low = 1406
set 3d_deadband_high = 1514
set 3d_neutral = 1460
set 3d_deadband_throttle = 50
set motor_pwm_rate = 400
set servo_pwm_rate = 50
set disarm_kill_switch = ON
set auto_disarm_delay = 5
set small_angle = 25
set reboot_character = 82
set gps_provider = UBLOX
set gps_sbas_mode = EGNOS
set gps_nav_model = HIGH_G
set gps_auto_config = ON
set gps_auto_baud = ON
set inav_accz_unarmedcal = ON
set inav_use_gps_velned = ON
set inav_gps_delay = 200
set inav_gps_min_sats = 6
set inav_w_z_baro_p =  1.000
set inav_w_z_gps_p =  0.300
set inav_w_z_gps_v =  0.300
set inav_w_xy_gps_p =  1.000
set inav_w_xy_gps_v =  2.000
set inav_w_z_res_v =  0.500
set inav_w_xy_res_v =  0.500
set inav_w_acc_bias =  0.010
set inav_max_eph_epv =  1000.000
set inav_baro_epv =  100.000
set nav_use_midthr_for_althold = ON
set nav_extra_arming_safety = ON
set nav_user_control_mode = ATTI
set nav_position_timeout = 5
set nav_wp_radius = 300
set nav_max_speed = 300
set nav_manual_speed = 500
set nav_manual_climb_rate = 200
set nav_landing_speed = 200
set nav_emerg_landing_speed = 500
set nav_min_rth_distance = 500
set nav_rth_tail_first = OFF
set nav_rth_alt_mode = AT_LEAST
set nav_rth_altitude = 1000
set nav_mc_bank_angle = 30
set nav_mc_hover_thr = 1500
set nav_mc_min_fly_thr = 1200
set nav_fw_cruise_thr = 1500
set nav_fw_min_thr = 1300
set nav_fw_max_thr = 1900
set nav_fw_bank_angle = 30
set nav_fw_climb_angle = 20
set nav_fw_dive_angle = 15
set nav_fw_pitch2thr = 20
set nav_fw_loiter_radius = 3000
set serialrx_provider = SPEK1024
set spektrum_sat_bind = 0
set telemetry_switch = OFF
set telemetry_inversion = ON
set frsky_default_lattitude =  0.000
set frsky_default_longitude =  0.000
set frsky_coordinates_format = 0
set frsky_unit = IMPERIAL
set frsky_vfas_precision = 0
set hott_alarm_sound_interval = 5
set battery_capacity = 0
set vbat_scale = 110
set vbat_max_cell_voltage = 43
set vbat_min_cell_voltage = 33
set vbat_warning_cell_voltage = 35
set current_meter_scale = 400
set current_meter_offset = 0
set multiwii_current_meter_output = OFF
set current_meter_type = ADC
set align_gyro = DEFAULT
set align_acc = DEFAULT
set align_mag = CW180FLIP
set align_board_roll = 0
set align_board_pitch = 0
set align_board_yaw = 900
set gyro_lpf = 98HZ
set moron_threshold = 32
set imu_dcm_kp = 2500
set imu_dcm_ki = 50
set imu_dcm_kp_mag = 10000
set imu_dcm_ki_mag = 0
set pos_hold_deadband = 10
set alt_hold_deadband = 50
set yaw_control_direction = 1
set yaw_motor_direction = 1
set yaw_jump_prevention_limit = 100
set tri_unarmed_servo = ON
set servo_lowpass_freq = 400
set servo_lowpass_enable = OFF
set failsafe_delay = 10
set failsafe_off_delay = 200
set failsafe_throttle = 1400
set failsafe_kill_switch = OFF
set failsafe_throttle_low_delay = 100
set failsafe_procedure = RTH
set rx_min_usec = 885
set rx_max_usec = 2115
set acc_hardware = 0
set baro_hardware = 0
set mag_hardware = 0
set blackbox_rate_num = 1
set blackbox_rate_denom = 6
set blackbox_device = SPIFLASH

set nav_alt_p = 50
set nav_alt_i = 0
set nav_alt_d = 0
set nav_vel_p = 100
set nav_vel_i = 50
set nav_vel_d = 10
set nav_pos_p = 65
set nav_pos_i = 120
set nav_pos_d = 0
set nav_posr_p = 160
set nav_posr_i = 15
set nav_posr_d = 110
set nav_navr_p = 14
set nav_navr_i = 2
set nav_navr_d = 8
set deadband = 5
set yaw_deadband = 5
set throttle_tilt_comp_str = 0
set yaw_p_limit = 300
set default_rate_profile = 0
set gimbal_mode = NORMAL
set baro_tab_size = 7
set baro_noise_lpf =  0.350
set mag_declination = 350
set p_pitch = 73
set i_pitch = 80
set d_pitch = 75
set p_roll = 59
set i_roll = 75
set d_roll = 75
set p_yaw = 110
set i_yaw = 40
set d_yaw = 0
set p_level = 65
set i_level = 10
set d_level = 75
set max_angle_inclination = 300
set gyro_soft_lpf_hz = 60
set acc_soft_lpf_hz = 15
set dterm_lpf_hz = 30

set rc_rate = 90
set rc_expo = 70
set rc_yaw_expo = 20
set thr_mid = 50
set thr_expo = 0
set roll_rate = 10
set pitch_rate = 10
set yaw_rate = 0
set tpa_rate = 0
set tpa_breakpoint = 1500