In general, you dont stay with the autotune PID, you use them like a start point to give a final tune. As you say in the first video, the takoff vibrations its a sign of “PID Autotune”, very common on the autotune on big copter i think, could be a miss of D on the pitch or roll if the shake dissapear after takeoff
Did you do the CompassMotor calibration?
