diff --git a/firmware/controllers/actuators/electronic_throttle.cpp b/firmware/controllers/actuators/electronic_throttle.cpp
index 13863cf7ff..86a70b4f8e 100644
--- a/firmware/controllers/actuators/electronic_throttle.cpp
+++ b/firmware/controllers/actuators/electronic_throttle.cpp
@@ -269,6 +269,11 @@ expected<percent_t> EtbController::getSetpointWastegate() const {
 }
 
 expected<percent_t> EtbController::getSetpointEtb() const {
+	// Autotune runs with 50% target position
+	if (m_isAutotune) {
+		return 50.0f;
+	}
+
 	// A few extra preconditions if throttle control is invalid
 	if (startupPositionError) {
 		return unexpected;
@@ -326,9 +331,10 @@ expected<percent_t> EtbController::getOpenLoop(percent_t target) const {
 	return ff;
 }
 
-expected<percent_t> EtbController::getClosedLoopAutotune(percent_t actualThrottlePosition) {
-	// Estimate gain at 60% position - this should be well away from the spring and in the linear region
-	bool isPositive = actualThrottlePosition > 60.0f;
+expected<percent_t> EtbController::getClosedLoopAutotune(percent_t target, percent_t actualThrottlePosition) {
+	// Estimate gain at current position - this should be well away from the spring and in the linear region
+	// GetSetpoint sets this to 50%
+	bool isPositive = actualThrottlePosition > target;
 
 	float autotuneAmplitude = 20;
 
@@ -444,10 +450,8 @@ expected<percent_t> EtbController::getClosedLoop(percent_t target, percent_t obs
 	}
 
 	// Only allow autotune with stopped engine, and on the first throttle
-	if (GET_RPM() == 0
-		&& engine->etbAutoTune
-		&& m_function == ETB_Throttle1) {
-		return getClosedLoopAutotune(observation);
+	if (m_isAutotune) {
+		return getClosedLoopAutotune(target, observation);
 	} else {
 		// Check that we're not over the error limit
 		float errorIntegral = m_errorAccumulator.accumulate(target - observation);
@@ -539,6 +543,11 @@ void EtbController::update() {
 		m_pid.showPidStatus(&logger, "ETB");
 	}
 
+	// Update local state about autotune
+	m_isAutotune = GET_RPM() == 0
+		&& engine->etbAutoTune
+		&& m_function == ETB_Throttle1;
+
 	ClosedLoopController::update();
 
 	DISPLAY_STATE(Engine)
diff --git a/firmware/controllers/actuators/electronic_throttle_impl.h b/firmware/controllers/actuators/electronic_throttle_impl.h
index 8d2da53f45..a23a0c7e0b 100644
--- a/firmware/controllers/actuators/electronic_throttle_impl.h
+++ b/firmware/controllers/actuators/electronic_throttle_impl.h
@@ -52,7 +52,7 @@ public:
 
 	expected<percent_t> getOpenLoop(percent_t target) const override;
 	expected<percent_t> getClosedLoop(percent_t setpoint, percent_t observation) override;
-	expected<percent_t> getClosedLoopAutotune(percent_t actualThrottlePosition);
+	expected<percent_t> getClosedLoopAutotune(percent_t setpoint, percent_t actualThrottlePosition);
 
 	void setOutput(expected<percent_t> outputValue) override;
 
@@ -83,6 +83,9 @@ private:
 	float m_idlePosition = 0;
 	float m_wastegatePosition = 0;
 
+	// This is set if automatic PID cal shoudl be run
+	bool m_isAutotune = false;
+
 	// Autotune helpers
 	bool m_lastIsPositive = false;
 	efitick_t m_cycleStartTime = 0;