I ran into crashes while autotuning my quadcopter.
After making the aircraft, we checked the flight status through Althold and Loiter Mode in the first flight.
The control for roll and pitch was not bad, but the control for yaw was unstable, so Autotune was prepared.
Shortly after I started the Yaw axis autotune, I felt anxious and secured control of the aircraft.
Afterwards, autotune resumed for the purpose of checking once again, and after several twitches, it swinged sharply, lost posture, and fell.
I would like to know what caused a phenomenon that did not exist in Loiter and AltHold.
Can you tell me the cause through the following log?
AltHold and Loiter Log
Frame Type: Quad
MOTOR: T-motor MN801 120KV
ESC: T-motor Flame 60 AHV
PROP: 28 "
BATTERY: Tattu 12 S 22.000
FIRMWARE: Copter 4.0.7