First up, you need to upgrade to 3.6.12 at least , and change this parameter:
EK2_IMU_MASK,7
Make sure you use the latest MissionPlanner or QGroundControl, they will warn if there’s a problem with that Black Cube.
It looks like you’ve got a lot of default values, That’s a large craft and those values don’t suit. Initially use these for your prop and battery size:
ATC_INPUT_TC,0.22 (RC Feel)
AUTOTUNE_AGGR,0.05
ACRO_YAW_P,2.56
ATC_ACCEL_P_MAX,76000.00
ATC_ACCEL_R_MAX,76000.00
ATC_ACCEL_Y_MAX,23000.00
ATC_RAT_PIT_FILT,15.00
ATC_RAT_RLL_FILT,15.00
ATC_RAT_YAW_FILT,2.00
INS_ACCEL_FILTER,20.00
INS_GYRO_FILTER,30.00
ATC_THR_MIX_MAN,0.10
BATT_ARM_VOLT,22.10
BATT_CRT_VOLT,21.00
BATT_LOW_VOLT,21.60
BATT_FS_CRT_ACT,1
BATT_FS_LOW_ACT,2
GND_EFFECT_COMP,1
LAND_SPEED,40
MOT_BAT_CURR_MAX,50.00
MOT_BAT_VOLT_MAX,25.20
MOT_BAT_VOLT_MIN,19.80
MOT_THST_EXPO,0.71
MOT_THST_HOVER,0.25
PSC_ACCZ_I,0.50
PSC_ACCZ_P,0.25
You can copy/paste these into notepad and SaveAs {something}.param and use MissionPlanner to load them without making mistakes or wasting an hour trying to find them all.
A couple are just my suggestions or preferences, but most are calculated from the Tuning Guide
https://ardupilot.org/copter/docs/tuning-process-instructions.html
I highly recommend you do the Compass/Motor calibration, and follow the instructions precisely or it can be very dangerous.
https://ardupilot.org/copter/docs/common-compass-setup-advanced.html?highlight=compass%20motor#compassmot-compensation-for-interference-from-the-power-wires-escs-and-motors
OK, once you’ve got all that done, just do some basic hovering and slight movements around in Stabilize mode and try AltHold mode if Stabilize is OK. Hover throttle will be relearning during this.
Fly for at least a couple of minutes.
Check logs again for any problems, and find your most recent hover throttle values in the log.
After that, set these:
PSC_ACCZ_I, {2x hover throttle value}
PSC_ACCZ_P, {1x hover throttle value}
ATC_THR_MIX_MAN,0.50
Set Autotune to do one axis at a time
Check for good GPS lock, it’s one of the pre-arm settings anyway, takeoff in Stab or Alt and then test Loiter - be ready to switch back to Stabilize or AltHold if anything goes wrong.
If all is going well, switch to Autotune - you need a large open area and no wind.
When Autotune finishes just manually return to launch and land WITHOUT changing modes and disarm. This is the easiest way to complete an autotune.
After you’ve done all 3 axis you should be in a much better place with a nice flyable craft.
To get more out of Autotune a second time around, try this:
AUTOTUNE_AGGR,0.075
