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Autotuning and getting random yaw inputs

Hi guys, I was doing an autotune yesterday and my drone seems to have some random Yaw input during the Roll and Pitch tune even when I turned off the Yaw autotune.
Is this normal?

Any help will be greatly appreciated.

Thank you

Read the documentation, it is a normal yaw when Autotune in Loiter.

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Do not autotune in Loiter, use AltHold instead. The results are a lot better. ArduCopter might improve the autotune performance in Loiter, but it is not released yet. Untill then stay in AltHold withe autotuning

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Thank you mlebret, I must have missed that.

Thanks @amilcarlucas , I will now only use AltHold for autotune.

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