I already did but was told by someone, I think it was rmackay9 that since the time of writing, PosHold was introduced and was a better mode for autotuning. I was trying to find the post he mentioned it in but not finding it, so asked here. I will just assume it is the best, since it’s talked about quite a bit in the instructions which look updated. Loiter mode is also mentioned, so why I thought it might be gentler that way or have some other benefit. Probably it’s better since it is only available in recent versions of copter. The instructions don’t explicitly say it’s the “best” mode to autotune in, but maybe it’s my overthinking things again. I was just hoping for an opinion or two as to which mode is the best for autotuning.