First of all, came from naza and never looked back. AC is one of the best controllers i have ever used!
My most recent build is a fairly large Hexa (Tarot X6, Pixhawk, Dualsky 330kv, Hobbywing Plat. 40A, 17inch CF, 2Ah Multistar 6s2p, RCT ASP 3-Axis, Sony a6000).
Did necessary balancing of the frame, balanced the props ok-ish. Flew fine with default PID, after autotune copter feels a wobbely/not stable, and i can see clear vibrations on the gimbal. Also the roll/pitch rates seem waaaaaaaay off... :/
What do you guys think, should i run autotune again or tune the copter mid air? (manual tune is a bit scary with bigger copters...)
Vibrations, roll and pitch seem fine on the log by me, am i missing something?
Here is a log and the PID (AC 3.2.1):