After my initial tuning with Naze32 I took it to the field and realized there were a lot of wobbles when throttling over 50%. When bringing the throttle back down everything was okay. It turns out that my Naze32 looptime was too high for my ESCs, which run at 400 Hz. This video talks through bringing that looptime down to a point where my Naze32 flies really well.
My settings are:
looptime: 2250
Roll P: 3.8
Roll I: 0.030
Roll D: 23
Pitch P: 3.8
Pitch I: 0.030
Pitch D: 23
Yaw P: 8.5
Yaw I: 0.045
Yaw D: 0
Roll rate: 0.6
Pitch rate: 0.6
Yaw rate: 0.6