# ArduCopter Tuning

![ArduCopter Tuning Page](../../../assets/setup/tuning/arducopter.png)

## Basic Tuning

Adjust the flight characteristics by moving the desired slider to the left or right.

## AutoTune

AutoTune is used to automatically tune the rate parameters in order to provide the highest response without significant overshoot.

Performing an AutoTune:

- Select which axes you would like to tune.

  ::: tip
  Tuning all axes at once can take a significant amount of time, which may cause you to run out of battery.
  To prevent this choose to tune only one axis at a time.
  :::

- Assign AutoTune to one of your transmitter switches.
  Ensure that switch is in low position before taking off.

- Take off and put the copter into AltHold.

- Turn on AutoTune with your transmitter switch.

- The copter will twitch around the specified axes for a few minutes.

- When AutoTune completes the copter will change back to the original settings.

- Move the AutoTune switch back to low position and then back to high to test the new settings.

- Move the AutoTune switch to low to test previous settings.

- To save new settings, land and disarm while AutoTune switch is in high position.

Note:

- Since AutoTune is done in AltHold your copter must already have a tuning which is minimally flyable in AltHold.
  You can cancel AutoTune at any time by moving the AutoTune switch back to low position.
- You can reposition the copter using your transmitter at any time during AutoTune.

### In-Flight Tuning

This is an advanced option which allows you to tune a flight control parameter using one of your transmitter dial channels.
Select the control option from the dropdown and specify the min/max for the values to assign to the dial.