WARNING: Autotune is an experimental feature. Currently enough feedback has been gathered and we do not recommend that anyone uses it until this warning is removed. Autotune may be replaces by G-Tune, Please see https://github.com/cleanflight/cleanflight/pull/568 for details.
Autotuning is best on a full battery in good flying conditions, i.e. no or minimal wind. Autotune does not support pid_controller 2 or higher (pid_controller 0 is the Cleanflight default, pid_controller 1 will work for autotune as well).
Configure a two position switch on your transmitter to activate the AUTOTUNE mode. Autotune may be done in ether one of the both only, HORIZON or ANGLE mode (will then apply on both modes).
Turn on/hold the autotune switch on your transmitter for approx 5 seconds. You can observe roll left/right while a beep code sounds on the beeper, when turning off the autotune switch, PID settings will have been updated for ROLL and YAW.
Turn on/hold the switch again for approx 5 seconds. You can observe pitch forwards/backwards while a beep code sounds on the beeper, when turning off the autotune switch, PID settings will have been updated for PITCH and YAW.
1. Keep flying and see if it's better. If it's worse then while still armed flip the switch again to restore previous PIDs that were present prior to arming. You can do this while still flying or after landing.