Inaccurate heading and inability to perform AUTOTURN

Can anyone help me, I have made basic adjustments, the problem is that the heading is a bit inaccurate, I can’t do AUTOTURN, can give me a suggestion

4 motors
22" propeller

flight log

Basic adjustments are not enough. You need to perform all the “madatory initial tuning”.
And you need to autotune after that!