That sounds like there bugs or limitations in the auto-tune routines. I’d be interested to know if @rmackay9 has this situation identified.
If it’s a limitation, not a bug, then users would benefit from having that limitation explained in the wiki. If it’s a bug - then as long as the DEV’s know about it, I’m sure it will be addressed at the appropriate time.
As info - I repeated the auto-tune, and it set lower pitch and roll PID’s - which is what I’d hoped for. My test flight after the first auto-tune showed that the PID’s were too aggressive in pitch and roll - especially in the fast segment of landing.
The second auto-tune only generated a single data_autotune_reached_limit message. But the yaw twitches appeared irregular. (not “twitchy” enough)
My test flight after the second auto-tune showed much better PID’s - and greater stability in steady flight. Still room for improvement though.