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This version of AutoTune puts the copter into a special version of Attitude flight mode that shakes the copter and measures the motions.  As a pilot, you should be able to confidently fly in Attitude mode because it will be a bit more difficult than normal to maintain control.  Tuning also need needs a larger area than simple hovering in case something goes wrong.

AutoTune is not currently supported on CC3D.   Also, there will be a GCS GUI for all this at some time, but it was designed to make it possible to be set it up at home and does not require GCS to run AutoTune or store PIDs be run at the flying field without requiring use of the GCS.

Currently you must be able to compile LibrePilot software / firmware yourself to be able to use this.  The pre-release source code can be found at: https://bitbucket.org/TheOtherCliff/librepilot/branch/theothercliff/LP-76_Port_Autotune_from_dRonin

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