OMP Bushmaster with INAV 7 1

This is my setup for my winter project 23/24, the OMP Bushmaster.
I use the PNP version with some minor modifications. The top hatch, I’ve reinforced it with 2mm plywood as the foundation for the camera, flashlight and VTX. I’ve also reinforced a bit of the tail to make space for RX and the GPS antenna. Then I swapped the pull-pull system for the rudder with a pushrod system. I’ve also swapped the wheel axel from 6 mm to 4 mm, to allow bigger wheels and skies. I think this plane looks better with really big bush wheels.
I use my good «old» Radiomaster TX16S mk1 with OpenTX on the ground with a TBS Crossfire Micro TX attached. An Eachine LCD5802D 5802 5.8G 40CH 7 Inch FPV Monitor with a DVR mounted on a tripod stand is useful when setting up before takeoff and a backup DVR. The Eachine EV200D 1280*720 5.8G 72CH True Diversity FPV Goggles I've got for some years. These have got very good reviews for a reasonable price here on RUclips, and I'm happy to use them. Antennas on the goggles are 2 Realacc TFP-Mini Triple Feed Patch, Dia. 45mm 5.8G 8dBi FPV Flat Panel Pagoda Antennas With Terminator, and 2 Lollipop 5.8G 2.5dBi RP-SMA VTx/VRx FPV Antennas.
On board, I have a Matek F405-WTE flashed with INAV 7.1. My FPV camera, a Hawkeye Firefly Split 4K V4 /NakedCam V3 /Split Mini 4K 170 Degree, is mounted on top of a servo recessed at the top hatch. That makes me able to pan the camera more than 90 degrees both ways. Right behind the camera, I've mounted the VTx, an Eachine TX801 5.8G 72CH Switched AV VTX FPV Transmitter. At last, I mounted back on the tail a TBS Crossfire Nano RX in front of a Beitian BE-880 GPA antenna.
I've performed Autotune and Autolevel flights and come up with PIFF settings, rates, and the angle of attack as follows:
PIFF settings: fw_p_pitch = 15
fw_i_pitch = 5
fw_d_pitch = 5
fw_ff_pitch = 144
fw_p_roll = 15
fw_i_roll = 5
fw_d_roll = 5
fw_ff_roll = 60
All p and i values are the default
Roll_rate = 160 degrees/sec
Pitch_rate = 100 degrees/sec
The angle of Attack: 10 degrees
I've done several flights this winter/spring with skies and big wheels. After Autotune and Autolevel trim, I think it flies very well. It's a shame the pilot doesn't go all the way. He missed the narrow field with a couple of meters and ripped off the undercarriage.
On the bench, I came up with the idea of mounting another camera under the belly. This is mounted on a servo to pan from another angle.
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