That looks pretty good now. I could see what you mean in the log - the throttle channel goes up, the altitude starts going up, but when throttle is leveled the Alt goes down a bit.
Basically the FC thinks you’ve overshot the desired altitude.
Try these, not sure if it will help.
INS_ACCEL_FILTER might be able to go up a bit to 18 - experiment with this one. If it’s too low you’ll see physical oscillations in roll and pitch, if it’s too high you’ll hear it in the motors and RCout channels will show PWMs criss-crossing with a noticeable difference instead of being all about the same.
The Vcc (5 volts) is a touch on the low side, keep an eye on that.
I’d probably revisit the Notch filter settings.
I had an idea that someone said INS_NOTCH has limited value, I think especially if you’re using INS_HNTCH or for lower frequencies??? - but dont take my word for that, check it out yourself.
I think INS_HNTCH_ATT can go higher value, like 30 - that was pointed out many times to people in the Harmonic Notch Filter subject, but I need more experience with it too.
So I’d probably redo the harmonic notch filter tests and make any changes, then run another Autotune.
Normally after that we’ve only ever had to adjust some Yaw settings to suit more or less acro craft.