I'm only about 20 foot max and 3to5 mph
my eyes are getting bad so i'm having troubles seeing your build.
but I had a cc3D flight controller that i did the binding with the ESC's conected and while it would fly it would do the same erratic behavior.
also, keep your reciever as far away from other electrical components specially the ESC's and try shield hardware with copper tin foil,
if running with GPS build a mask / poll and keep it about 3 inches from other components.
check all your electrical for shorts, or burnt wiring.
make sure the battery is not to big , or quad too heavy for the motors have to work harder
with the 250's i run 6" props, 5" will work but it works the motor harder and you won't have the same control.