ok so this has been bugging me for a while. i did a full tune on my 5inch, blackbox logs look pretty decent i think, P and D feel balanced, no obvious oscillations on the bench or even in slow flight. but the second i start throwing actual freestyle moves like hard direction changes and snap rolls it just feels like its a half second behind me. not sure if its my rates or something in the pid controller itself. ive tried bumping P up but it didnt really help, maybe made it worse. running JESC on the escs if that matters. im not sure what else to look at honestly

check your I term. a lot of people forget about I when theyre tuning for freestyle and it causes exactly that kind of laggy feeling on hard inputs because the quad isnt recovering from the attitude change fast enough. also what are your TPA settings at, sometimes people have it way too agressive and it pulls down your P in fast flight without you realizing

honestly could just be your rates tbh. ive had tunes that felt fine technically but just felt wrong because my center sensitivity was too low so inputs didnt feel connected. try messing with the expo before you go deep on PIDs again, sometimes its not even a tune problem its just how the stick feels to you