INAV testflight on Tyro129 7" quad

When a hobby evolves you end up with a lot of parts from 'the early days' that are unlikely to be used anymore.
I had an old Matek F405-STD FC that was once in a burning quad, I had a TS100 GPS unit that was crashed before and missing some parts, I had a bunch of HAKRC ESC's that are not 6S capable (and who wants separate ESC's nowadays?), I had an AKK VTX that is too large and powerful to fit racing quads, I have many cameras with broken housings, and so on.
So, curious about the 7" class and needing a testrig for ExpressLRS I ordered a cheap Tyro 129 frame, Racerstar BR2508 motors, and tried to assemble a quad with as many available parts as possible.
Then, I also realised that the TS100 GPS has a magnetometer built in, and the flightcontroller has a barometer built in. So, I might as well try INAV instead of Betaflight.
So far, meh. INAV feels pretty primitive compared to Betaflight on multirotors. In setup, in features (no turtle mode, whaaaat?) and acro flight characteristics. I am also not overly impressed with the navigational capabilities. I will try to get used and tune a bit more (flight in the video is basically untuned; I chose the 7" preset and setup hover throttle), but this quad might end up running Betaflight also; Betaflight's GPS Rescue is rough, but usually sufficient.