Auto Tune Pilot Overrides Active

I have been trying for some time now to get the autotune functionality to work both w/ and w/o position hold. For some reason, every time I activate autone, I constantly get a message in MP saying “autotune pilot overrides active”. THis persists even without the joysticks enabled. Is this an issue and if so, any thoughts on how to remove it? I am running ardupilot SITL in xplane with a custom EVTOL vehicle.