Does "Autotune" work in HIL

Like the title, does the “autotune” flight mode work in the hil

The version I have loaded is 3.0.1, have it working with Xplane10. Hardware is a APM2.0, one with the GPS attached.

When I switch to autotune, the mission planner shows it being in RTL, and the plane heads for the home location.

I want to test it out before using it on my plane.


Autotune was introduced in 3.0.2, so you’ll need to update your firmware.

I was under the impression that HIL did not yet work in aruplane version 3.0.#, is that incorrect?