Auto Tuning problem in qgroundcontrol using pixhawk

[Lautaro_Cline]

There was a post on this too a few weeks back , it has the only PX4 Documentation on tuning ,as the post states its a bit old.

How to autotune the PID params

Dear all, We have a customed airframe, and we want to tune the PIDs. Currently, the frame is extremely twichy in both roll and pitch directions. As I recall, the old version of QGC has the autotune of PIDs, but for now I cannot find it. Could anyone advise me how to tune the PIDs? Thanks