Arducopter Autotune & Test Flights
After flying on the same gains since 2.9.1, I loaded Arducopter 3.1rc3, took it up for an autotune flight, and did put another pack in to see how it performed. At first I was skeptical of the lower gains chosen by autotune, but it turned out responsive enough for me. The moments of hovering and skidding around in Alt hold really show off the difference compared to my manual tuning. There is a lot less wobble due to wind and lateral speed.