I have try a couple of times to use Autotune for Yaw axis but without success.
The copter start to do some gentle 30° movements on Yaw axis but after 15 minutes it did not change any PID value or complete .
AUTOTUNE_AGGR was set tp 0,1 , but was not aggressive at all .
Does YAW autotune work only with a perfect calibrated compass ?
EDIT
Problem solved .
I had select Autotune changing a flight mode in Autotune , bad idea.
Dedicating a switch to Autotune solve the problem.
Take off in Stabilize, then Loiter, then Autotune.
Autotune from Loiter is a big progress, do not need to touch radio sticks so Autotune procedure is now fast and precise.
Big thank you to the developers 