I have a Finwing Penguin with a PixHawk running v3.0.3. I have ran the AUTOTUNE in level 7 and the plane is flying alright. Doesn’t seem to loose altitude during turns and seems to track well. The one thing I have noticed is that it is definitely flying in a ‘nose up’ attitude.
I was wondering if someone might be able to have a look at a log file and see if my settings could be tweaked further. The log file was too big to upload to the forum, so I placed it in a zip file here.