I have a 250 size quad flying a Pixracer controller with the battery mounted on top of the copter.
Did auto tune in Pitch first and then Roll.
Pitch auto tune seems fine and flies ok.
Roll auto tune makes the copter flop back and forth as it flies.
I updated the Roll PID’s to match the Pitch values and it flies ok now.
Here is a copy of the Roll Auto Tune log: 196.bin
Running 3.4.2 dev version.
Mike
PS did the auto tune twice and both times it came up with the same solution.