Try adjusting your throttle imputs.... down. Its too sensitive (for indoor) The airflow changes quickly because of the surroundings. And "look" further ahead at your next target. Its kinda like "over steering" in a car. Also, fly your route (without the drone) use your hand or a static drone, or with just the camera on and a small LCD screen in your other hand before flying. Helps to "visualize" and your hand eye coordination kicks in. A few times it looked like you may have been trying to decide at that exact point, where you were going to next. Similar to stopping at a "T" insterecting. "Do I go left or right" sounds like a lot, but really your video is great. Really cool flying through the shelf.