I was trying to remove the frame IMU and just use the camera tray to see if some problems are coming from the two IMUs not being aligned properly. I'm still getting YAW jitters even after removing i2c errors and tightening the yaw gimbal cage.

Its only in the air and it seems to be good until I start moving around. Everything is balanced perfect and pitch and roll are pristine. There is something that is exciting the axis and wanted to eliminate the frame IMU to simplify.