AutoTune is paused because a stick is off centre

What ArduPilot says:

• AutoTune: Paused: Pilot Override Active
• AutoTune: pilot overrides active

AutoTune stops testing whenever a stick is away from its centre: roll, pitch or yaw off the middle, or the throttle asking for a climb or a descent. While that lasts you fly on the gains from before the tune and this line repeats every second. Half a second after the sticks are back it levels the aircraft and carries on where it was. This is how you bring a drifting aircraft back; it costs nothing but time. (“Paused: Pilot Override Active” is the helicopter AutoTune's wording.)

What to do, most likely first

1. You are moving the aircraft back into place.

   FixNothing to fix: let the sticks go and AutoTune resumes.

2. The sticks are released but a channel does not read centre: trims on the transmitter, or a throttle stick not at its middle.

   CheckIn the Radio Calibration screen, with the sticks released, roll, pitch and yaw must read their RCn_TRIM and the throttle its mid-point.

   FixCentre the transmitter's trims and rest the throttle at its middle. If a stick does not come back exactly, raise that channel's RCn_DZ a little.

Parameters to look at

Where to do it:Setup & Tuning GuideSetup & Tuning GuideSetup & Tuning Guide