Best to engage autotune from AltHold or Loiter?

ArduCopter Copter 4.3
1

Going through the documentation for autotune it states that a better result can be had from engaging it from AltHold vs. Loiter. Does this still hold true @rmackay9 ?

Thanks!

2

If I remember well, calling from Loiter makes the UAV perform autotune moves perpendicular to wind, so you have a better probability of getting better results when compared to AltHold.

3

I think Leonard’s advice was to start from AltHold, and Autotune should do a very loose position hold so the copter doesn’t just run away - but I’ve done Autotune from Loiter many times with no discernible difference. As far as I can tell Autotune is it’s own mode and doesnt tune in the mode you started from.

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4

Thanks for the input! In my experience if you engage from AltHold there is no position holding during autotune. If you engage from Loiter, there is a weak position hold.

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