MC1 diagonalization is poor, better then before, but still pitch is seen in pos and yaw. Either smth is malfunctioning or flags touch sensors and do not move freely. On the plot mc1_new black lines - before, red - after rediagonalization.
I've manually corrected MC1 input matrix by looking at UL, UR, LL, LR transfer functions between each other. This improved pos significantly and slightly yaw.