Revisiting tuning and filtering on existing copters

Hi I have two quad copters that havnt been flown in over a year. Today I put them in the air and found both disappointing in performance from tune to position hold…

Both have notch filters and used autotune… so I wanted to basically update them with latest firmware, retune and re-set the notch settings

Could someone give me an outline on how to efficiently get these updated? for example do I clear the notch filter back to original? do I start with the initial set up parameters? any other critical settings I need to look at / adjust?

Thanks

For best results, update the firmware to 4.5.7 and follow this procedure from the very beginning.

Do not skip anything