When I perform automatic flight, the flight trajectory is like meandering, with a fixed airspeed of 22m/s. Which parameters should be adjusted to optimize the automatic flight trajectory?
It looks like level 8 autotune is too high, during AUTO attitude control is very poor.
Seems to be a trimming issue and a failed autotune.
PIDP.I being that far negative constantly indicates a CG problem. Pitch Axis seems to fly on FF alone, P and D don’t do much. The plane cannot reach the requested pitch changes. I assume it’s tail heavy.
Check for the TRIM value of your elevator servo and iteratively adjust the CG, the mechanical trims and autotune the plane again.