I would try lower power settings, below 200 and higher P and D. I guess higher D should help. Are you using 4S?
I am not quite sure what the 'I' actually does. My experimenting and manual explanation do not correspond. but anyway, I would experiment with 'I' too. I think lower 'I' value for Yaw.
Though I guess your motor has 28 poles and 84 comes from 3 x 28, I would experiment with this value also.
Also limit acceleration is quite low? But I have not experimented with this.
wow, impressive gimbal :). did it work well in real flight and in windy environment without vibrations? i ask because i have also an gimbal with included landing gear. but here i get vibrations especially in roll pivot if there is soft wind or if airflow from props hit the gimbal. for example is you fly left or right sideways.
Yesterday I went out for a test flight, when arrived I noticed that the SC card for the GH2 was still at home :( Although the Kratos was shaking in flight because it needs lower gains with this heavier mount the picture was looking real dispassionate and steady on the ground monitor:)
I know of the tuning guide from Fabien, but IMHO its needs an update and a better description on how to tune al the settings and what the influence is especially for big mounts, hope that Alex can fill this in one time!!