Hello guys, i want to ask how APM can do autotune? i mean what code they have to make APM can autotune PID
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if your wondering what code powers the autotuning it's mostly here: https://github.com/ArduPilot/ardupilot/blob/92106a944ff9646e2cb8990...
if your wondering how to use it you can see that here: http://ardupilot.org/copter/docs/autotune.html
Here is the copter autotune code: