Thank you Shawn -
Maybe I mis-read the docs about auto-tune. I had auto-tune tied to an aux-switch and channel-7. I thought as long as the channel-7 activated auto-tune was kept on, the auto-tune values would stay until the final disarm - even if I used another flight mode after auto-tune completed such as RTL.
I looked at my PID’s afterwards, and there were just a few that had small changes in their values - maybe my records were wrong. But the copter was in pretty good tune to start with - so I assumed the auto-tune completed normally and only needed to make minor changes.
I’ll go back and run it again tomorrow - and just land after completion. I do have about 20 minutes of flight time available. Even more because I deactivated my GoPro’s power and VTX to conserve power even more.
But it was pretty curious - usually it takes a minute or two to start twitching. Today it started twitching immediately. And then the twitches went through their rotation pretty quickly compared to previous runs. I read the notes about being sure the sticks were calibrated so the FC doesn’t think there are pilot overrides by mistake. I didn’t do a new radio calibration - so there were no changes in that. The only change was the new carbon fiber gps antenna mast - which although taller, is much more ridged and perhaps causes less/different frame vibration.
Over all - especially since I have the FFT dynamic notch filter working - the copter is considerably better behaved. But I’d like to get it as finely tuned as possible - if for no other reason than to educate myself.
Thanks for the note about the partial auto-tune - I hadn’t noticed that option.