After the initial settings, I had the vehicle autotune. After the “please tune manually” warning, I tuned manually. Then I had the copter autotune again, and it completed successfully without any error messages. But the pid values were too high and my copter almost crashed. then I set the AUTOTUNE_AGGR parameter to 0.05. It completed successfully without any error message. Yes it produced a lower pid value than before but it still seems too high. Why can’t I get a proper value after autotune?
Provide a link to a .bin flight log from a flight after the last Auto Tune. Aggression below 0.075 will rarely produce good results.