Inaccurate heading and inability to perform AUTOTURN

ArduCopter
,
1

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

multi-rotor
4 motors
22" propeller

flight log
https://drive.google.com/file/d/1CPhY5DmbI6hlbFVlqtqA69HWQoykBObh/view?usp=sharing

2

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