Unfortunately I can't find the log anymore but those spikes came from me not sitting still 20 min. alongsides to the AQ.
I flew a few times and could get a better althold than before though this is due to the extraordinary dynamic laser balancing of my motor-prop combo thus having very low vibrations. One thing annoys me a bit. That is that the AQs drifts if I flew a short time in any horizontal direction but that can be tuned by a higher angle I I guess. Secondly the AQ wanders around the target position, sometimes stops before it and overshoots it and gets back. Left some time it settles at the target position. But that's left to be tuned. Hopefully I get a precise AQ soon
Anyways I opened a thread in the PID tuning section: