Is Autotune the Answer?

I am currently building a 7-inch FPV drone.
The drone is capable of stable flight, and I have applied notch filters as well.
Here’s my original setup and short flight video.

FUGA FC를 올린 7인치 FPV 드론 비행 2

I believe the current PID values are reasonable, but I conducted autotune to increase the maximum acceleration values.

Considering the flight time, I only performed autotune for the Roll axis first.
I conducted tuning with AGGR set to 0.075.
After confirming the “Success” message, I landed and checked the values.

However, as shown in the attached photo, the values turned out to be lower than I expected.

Issues Encountered During Autotune

1. Performed Autotune in Loiter Mode Instead of AltHold Mode

   • However, since Autotune is based on AltHold, I believe this shouldn’t have caused any problems.

2. Landed the Drone Once During Autotune

   • Override was triggered during this time, but I think it did not affect autotune. I didn’t disconnect the battery, and the Autotune AUX channel switch remained in the High position. I also confirmed the Autotune “Success” message.

3. Vibration Issue? Notch Filter Issue?

   • Unfortunately, I accidentally deleted the most recent flight logs.
     Instead, I am uploading a log from a previous flight.
     The values are almost identical, and the vibrations are generally good, averaging 3–5 and
     staying below 10.

Should I try Autotune again, or should I manually adjust the values?

My drone uses pusher-style propellers (not puller), with the battery mounted underneath the frame and the payload on top.
The center of gravity is well-balanced.

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