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Well, the problem you were having with the AI turning is that it is set to roll to 5 degrees (practically upside down), which this thing obviously cannot do. So it would just sit in this limbo of trying to roll upside down but not be able to.
To fix this you need to set the second slider in the aerial AI all the way to the right (180). If you do that it will no longer try to roll to turn, and will just use the lateral thrusters to turn instead. Then it flies perfectly.
I might also suggest that you add a few more turning thrusters on it, because it turns very slowly as of right now.