@xfacta, would you mind looking at the last log in Tuning a fleet of large quadrotors, here’s the link to it:
https://drive.google.com/file/d/1NFceSFd_AXjPNd8ATmLump9kgWP5lJS-/view?usp=sharing
Notice that the end was a crash after performing an RTL. Performance during the flight seemed very nice, but of course, the RTL resulted in an out-of-control oscillation. Is there anything I should tweak to avoid this prior to tuning?