Today I have upgreaded my Y6 Copter from firmware version 3.1.1. to 3.1.2. After that I went out to do an AutoTune flight. A few moments after enabling the AutoTune mode the copter began oscilating and crashed into the ground. Furtunatly the damage is not so big. But I can't find the reason for this crash. Perhaps anyone can help me trying to find out why the copter crashed? Perhaps the parameter file and the log-file will help. At about 11.59:02 the copter begins to oscilate and crashes a short time after at about 11:59:05.