Copter does not perform twitches during autotune session

i got it to autotune maybe once but not completely.
any subsequent attempts result in copter just loitering and occasionally repositionig by 90 degrees



I haven’t look at the logs but the most common cause is that the RC transmitter sticks are not completely centered. This includes the throttle stick.

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Thanks @rmackay9. The log shows all sticks in ± 4 range from the center position at the moment of autotune activation.

The problem appears to be the large amount of rate noise you have. Autotune waits until the aircraft is relatively still before starting a test. In your aircraft there seems to be a ± 50 degree per second oscillation on the roll rate measurement.

Auto-tune waits for the movement to be below 10 degrees per second.

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