Today I did autotune in loiter and poshold mode. The reason I don’t do it in Althold mode is because the drone is drifting and I don’t trust my piloting. When autotune is finished in loiter and poshold modes, the drone behaves like an althold, that is, it drifts. So I couldn’t download in autotune mode. Is there a way to get the values from the logs, I came across this information on the arducopter site, but I couldn’t find the details.
No. From AltHold switch into Auto Tune and reposition the craft manually as it runs. When complete land and disarm. Do Not switch out of Auto Tune.
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You can autotune in loiter if you use 4.1.0-rc1 release. With 4.0.x loiter is not advised, the results are a bit sub-par.
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