Thank you for the feedback.
We did fly it first with a newer firmware, but it did not fly great. So we went back to the 4.07 with same pids. But I have to say, this was a while ago with 4.10, we did not test 4.15 yet, but will do.
I checked the Noth Filter, you are right, it was not setup up, did this today.
For the ESC, we use here the coxial arm set from Tmotor, it has the Alpha ESCs built in.
The flight after autotune was for me not really flyable, so I landed after the 10 seconds.