I went a few rounds with PID autotuning in the living room after the kids were asleep. It's been constant nasty weather for the last few weeks, so I couldn't get outside so the Q4 could have more room for its autotuning dance.

Meanwhile I discovered the LED mappings for both the X4 and Q4 weren't right, I merged Q4 and X4 configurations together as much as possible, and found the right scaling factor for the battery voltage.