I auto-tuned it twice already. The first time the resulting values were totally off (especially on pitch), then I tuned it manually according to this thread https://discuss.ardupilot.org/t/arducopter-on-small-quadcopter/31752/2
and afterwards I performed an autotune flight over all axes again (also there was nearly no wind today, which led to better results, I think).
Now its at least flying ok in stabilize and AltHold.
Is there a trick to get better results out of autotune with smaller frames?
Dynamic notch is not set up yet, I’ll have to look into that.
Where is the baro on the Pixracer located/where do you put the foam normally?