I tested autotune on my copter and it suddenly fell into the ground. Before crash, I had done about 100 flights and after crash after replacing the broken arm to the engine, making new flights without any problems. Can any of you look at the attachment log?
You have your autotune parameters at max??
What size copter?
Props?
Motors?
If it’s over powered you could have just had the settings too high.
As @fnoop suggested, it could have been a desynchronising.