This is more of a curiosity question: Would you know what control method Autotune uses in order to determine the PID gains? I thought it would be something similar to ziegler-nichols, but that would make the quad oscillate during the tuning process, and not twitch.
Would you also happen to know how it calculates the reference point orientarion in order to determine the yaw input value to the controller? This field of research has been tested in my university for 2 DOF anthena orientation control, and is quite interesting to us.