A quick Autotune Question

[Paul-H]

Hi all

A quick Autotune question (I Hope)

When using Autotune what mode should the Pixhawk be in.

It would be nice if it could be used in Althold or Poshold modes.

Thanks

Paul

[hoverfly]

Stabilize mode, as when you use an input  from the t/x to stop it drifting too much  auto tune cuts out and then resumes when there are no more inputs.

[Hands0n]

Alt Hold mode, then flip on Auto Tune, use Pitch/Roll to correct position if it drifts off too far.

AutoTune attempts to automatically tune the Stabilize P and Rate P and D terms in order to provide the highest response without significant overshoot. Copter needs to be "basically" flyable in AltHold mode before attempting to use AutoTune as the feature needs to be able to "twitch" the copter in the roll and pitch axis.

Source: http://ardupilot.org/copter/docs/autotune.html

HTH