Working with a tarot xs690 drone frame, with eolo3 15 *4.5 inch propellers , using tattu 8000 mah , 6s lipo battery (heavy 1kg+ weighs) , the multicopter flies very stable in alt hold mode and loiter mode . Sunny sky propellers, sunny sky 4008 350kv motors .Skydroid T12 radio transmitter ,Sunny sky eolo v2 esc .
- Attempting to Autotune the Quadcopter in loiter / Alt Hold ,
results in the quad , going in a forward direction ( irrespective of the heading on liftoff )
very fast , travels more than 30meters , then rapidly accelerates up and performs radical roll maneuvers , very unstable , but comes to stable stance after . Cannot continue with autotune .
*Autotune aggression values changed from aggressive to mild to weak , makes no difference , same behaviour.
*Geo fence enabling also doesn’t work for autotune , the geo fence is breached .
*Not able to complete autotune .
Tried few number of times, the same behaviour is observed .
*Same behaviour happens with autotuning with F550 frame 10 inch quad .
*Copter is tuned before autotune .
Help with autotune . Multiple quads same behaviour . ******** .
Below Screenshots , of tarot xs690 drone .
Screenshots :
- Ctun ThH vs ThO vs Thl :
2)Roll vs DesRoll:
3)Pitch_DesPitch :
4)Motor1_2_3_4 RCOU . Possible Yaw Imbalance , but Copter flies very well in non manual modes .
Any Help would be greatly appreciated 
