Running a 4s 6200mah.
Feels sluggish trying to autotune and it cancels.
Probably because there is output oscillation due to the vertical acceleration controller gains being at default. But, it’s hard to tell in this log with the mad jerking of the throttle stick. Set the PSC_ACCZ_I and P parameters properly based on hover thrust. Check for output oscillation at hover. Also, the notch filter should be configured before running Auto Tune. And, set the Motor Ranges
You seam to be doing a lot of beginner mistakes.
Use ArduPilot methodic configurator software to get the job done faster and safer.
It will correctly configure 80 parameters for you. So that you only have to configure the others.