INAV 5.0 worse than INAV 3.0? - Horizon Drift comparison

Let me explain and I try to keep it short.

For 3.0 I worked with some of the devs on new default settings (The new Fixed Wing profiles you get on a new FC on first connect) These include preset settings for Horizon Drift mitigation and where okay-ish but also safe to use on any plane (bad settings can cause a bad day)
Shortly after INAV 3.0 I experimented more and found out that reducing imu_dcm_kp from 2500 to 1000 and imu_dcm_ki from 50 to 0 brought a massive improvement so I wanted to bring them as defaults in 3.0.2. (These values say how fast the AHI gets adjusted based on accelerometer data). One of the Developers though said it is not a good idea to set "ki" to 0 and decided to set it to 20 instead and we went on.
Nothing in the related code has still changed till today! But for 4.0 or 4.1 I did some more adjustments to the default PIDs PLUS by default now throttle smoothness is enabled. And here the problems begin. The now still sensitive AHI in combination with a weaker altitude hold behavior (it was meant to bring smoother flights in nav modes) and the delayed throttle response in nav modes, all in combination cause a less stable and precise loiter and therefore induce unbalanced G-Forces. These lead to more drifting, and this leads to more unstable loiter in a loop.
So in short: I have compared INAV 3.0 defaults (already bad) with 3.0 optimized (nearly perfect loiter) with 5.0 defaults (even a bit worse than 3.0) with 5.0 and optimized settings (perfect loiter and minimal drift in turns.
All tests were done with an identical challenging WP mission, and I synced them up as good as possible to directly compare. As you can see, the Optimized 5.0 makes the cleanest path with least corrections and runs the mission the fastest of all flights. The mission in total runs 2 times and the results were persistent.

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📡 My Radio Gear:
▪ Taranis X9D - https://bit.ly/3mZzhn2
▪ Radiomaster TX16S - https://bit.ly/2S4Gi7L
▪ FrSky R9M LBT - https://bit.ly/2Ghfz54

🥽 My FPV Gear:
▪ Eachine EV200D Goggles - https://bit.ly/36ee1nm
▪ Eachine Pro58 Module with PIRX - https://bit.ly/3kWvghs
▪ Eachine Moneagle FPV Monitor - https://bit.ly/3mUt23M
▪ Eachine EV800 as Backup - https://bit.ly/3kNaXCO

📹 My HD Gear:
▪ Runcam 2 - https://bit.ly/338ou1I
▪ Runcam 2 4K - https://bit.ly/3cDopGw
▪ Runcam 5 - https://bit.ly/3mY29vN
▪ GoPro Hero 7 Black - https://amzn.to/30dSNm0

🧳 Ground Equipment:
▪ Realacc FPV Backpack - https://bit.ly/3ibWBdz
▪ ISDT Q8 Charger - https://bit.ly/3cBXye0
▪ TS100 Soldering Iron - https://amzn.to/30eFIIY
▪ Camping Stuhl - https://amzn.to/3cGdfB4

✈️ My Favorite Planes:
▪ ZOHD Talon GT - https://bit.ly/3n0T6dt
▪ ZOHD Dart 250G - https://bit.ly/2FWEXxx
▪ Sonicmodell AR Wing - https://bit.ly/2GfOJuo
▪ Sonicmodell AR Wing Pro: https://bit.ly/34b0ufa

👍 Recommended Electronics:
⬇️ Flight Controllers
▪ Wing FC Matek F411WSE - https://bit.ly/2G95Luh
▪ Wing FC Matek F405 Wing - https://bit.ly/3j9NM5b
▪ Wing FC Matek F722 Wing - https://bit.ly/3kTW3uK
▪ Wing FC Matek F722-WPX - https://bit.ly/37Inq5J
▪ Quad FC Holybro Kakute F7 - https://bit.ly/36eeNAQ

⬇️ FPV Cams
▪ Caddx Ratel - https://bit.ly/2GhohjM
▪ Caddx Ant - https://bit.ly/3jmt4z2
▪ Runcam Phoenix 2 - https://bit.ly/339oxKL
▪ Foxeer Cat 2 - https://bit.ly/3mZHzeE

⬇️ VTX
▪ AKK FX2 Ultimate - https://bit.ly/3kZEbyF
▪ AKK Infinite DVR - https://bit.ly/339w78o
▪ AKK FX3 - https://bit.ly/3ie8csy
▪ Matek VTX-HV - https://bit.ly/33awgZ4

⬇️ ESC
▪ Hobbywing Skywalker 80A - https://bit.ly/36djo6r
▪ Holybro Tekko32 Metal - https://bit.ly/3441dxs
▪ DYS Aria - https://bit.ly/30e9BJC

⬇️ Motors
▪ Plane Sunnysky X2212 - https://bit.ly/36fhHFI
▪ Plane Sunnysky X2216 - https://bit.ly/3czHPMA
▪ Plane Sunnysky X2814 - https://bit.ly/2S7DMOc
▪ Quad/Plane Racerstar AirB - https://bit.ly/348qZ3k
▪ Quad T-Motor F60 Pro IV - https://bit.ly/3cBayk2
▪ Quad T-Motor Pacer - https://bit.ly/3n0OPqo
▪ Quad T-Motor Velox - https://bit.ly/3cB1rjv
▪ Plane T-Motor AS2814 -https://bit.ly/347Syd5

⬇️ GPS
▪ Radiolink M8N - https://bit.ly/3jbfgYm
▪ Beitan BN880 - https://bit.ly/2HwcAXa
▪ Beitan BN220T - https://bit.ly/2HuK6wW

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