Severe wobbling and oscillation before aircraft lifts off the ground

No standard telemetry with BLHeli_S as I mentioned but with BDshot firmware on the ESC RPM is available for Notch Filter reference at a much higher rate than standard telemetry. If you wanted to try this Google “Jazzmaverick ESC”

Can’t help with Crossfire.

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Autotune is nice, but it takes a bit of time, the sweep may tilt the copter in large oscillation, do it at high enough and wide enough location.