Drone wobbles on landing

If you like, share another log and we can check a few things like the harmonic notch filter settings and more, then you can move on to Autotune.
It’d be nice to see how it’s performing now.

https://drive.google.com/file/d/1iuN0ZH18VTx4cmw-jDbkhDz97CyidyZL/view?usp=sharing

Here is a link to the last flight.

Set
INS_LOG_BAT_MASK,1
to gather some data for the Harmonic Notch filter. This way we’ll be able to tell if it’s set correctly. Just do mostly hovering in AltHold mode to gather this data.
And these to suit the Cube orange (now defaults in later firmware)
EK3_IMU_MASK,7
EK3_PRIMARY,1

After that HNOTCH is confirmed set up correctly you should be able to run Autotune with
AUTOTUNE_AGGR,0.1 (don’t go lower than 0.08)
AUTOTUNE_AXES,3

Your battery voltage stuff is still very inconsistent - you’ll need to fix that or the MOT_BAT thrust scaling wont know how to work properly.