I finished my new airframe which is much better suited to the extra hardware required for a UAV than my previous attempt. I was successful launching, flying and landing in manual mode. My goal was to autotune, however I must still have something wrong. When I select autotune, the plane goes nose up, then nose down and refuses to allow me to pull out of the dive until I switch back to manual mode. I have attached the logs and I would greatly appreciate it if someone could help me out.