8" iNav 4.1 racing

Having fun with the 8" bibladed quadcopter running iNav 4.1 during a Team MRO evening session. Not bad, that iNav stuff. Not bad at all. I like it!
Quite new to me though, so I need to figure out how to tune it properly. In that regard it is far more primitive than Betaflight.
Unfortunately the Hero8 seems to have an issue; it turns off midflight and leaves only a few seconds of video on the card. Bummer. Sharkbyte DVR it is, then.
Not quite as nimble as a 5", but there are plenty of 5" racing videos from way better pilots than me. It is the sound of those biblades that makes sending the 8" over the racetrack so much fun. That sound, no, MUSIC touches the soul. Too bad that music is not on the recording.
The beast, err, quad:
Modified FR7 frame.
Racerstar Anniversary Edition REV35A running JEsc.
Matek somethingsomething flightcontroller running iNav 4.1
Brotherhobby Avenger 2810 1180kv
HQ 8x5 biblades.
CNHL white 2200mAh/6S/70C
GPS/baro/magneto, so it can even go out and do shopping for me autonomously.
2.4GHz ExpressLRS, DIY RX and TX
1W HDZero Freestyle VTX, HDZero micro v2 cam.