[CraigJPerry]

Dude that video is an amazing demo. I left a comment on YT but you should take this further!

P.s. I think the I-term in your pid control loop is too high on your quadcopter, that oscillation isn't really affecting your flight control too badly but it heats the motors more than a stable tune would which reduces the service life of the permanent magnets in them.

Could be the P-term but the oscillation looks too slow for that, I guess one way to check for sure (assuming you don't have a blackbox on there) could be to increase your D-term and see what the response is

[ashtuchkin]

Thanks, yeah I need to tune it more, just wanted to share sooner :) I do have a blackbox there, that should help.