Autotune in Loiter - and is it possible to Geofence for Autotune?

ArduCopter Copter 4.1
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I was wondering if it’s possible to use a Geofence to restrain copter position during Autotune.

Reviewing the docs I was reminded that it is possible, but perhaps less desirable, to initiate Autotune in Loiter to restrain copter position during Autotune.

I found nothing about using a geofence for Autotune - is it possible or advisable?

What is the current thinking about invoking Autotune from Loiter?

Thank you for your comments, advice and suggestions!

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I’ve moved your post from Plane to Copter. It will make more sense this way. :slight_smile:

You can autotune from loiter mode. Apparently the new firmware (4.1.x) handles it better than previous versions and will keep the drone reasonably close. It will still drift a little, but it will keep you from chasing it across the field.

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Thanks Allister - my bad for the wrong category.

I tried to AutoTune this morning in Loiter as it was a bit more breezy than I’d prefer. The Copter behaved as described in the docs - but I wasn’t confident that it wouldn’t stray out of bounds.

Before switching to AutoTune, it was interesting to just see the copter handle the windy conditions in Loiter. The copter would sink a bit when countering wind gusts - just as it does when transitioning horizontally in Loiter. I’ve posted a separate question about possibly tuning for more aggressive altitude holding.

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