Auto Trim

Auto Trim (ported conceptually from Rotorflight/iNav's BOXAUTOTRIM) captures trim automatically from sustained stick input: hold a small, steady correction in cruise flight, and Auto Trim gradually folds that correction into the aircraft's trim so you no longer need to hold it.

This is particularly useful for dialing in trim on a new airframe without repeated land-adjust-relaunch cycles.

How the capture works

Flip the switch on while armed and hold a steady correction for about 2 seconds -- Auto Trim averages the actual, already-mixed servo output over that window and writes it as the new center point, the same underlying value the Servos tab's Mid field or the CLI servo command would set. Only servos actually fed by a stabilized axis (roll/pitch/yaw) are touched -- outputs driven purely by a raw RC channel, an override, or a logic condition are left alone, since those aren't part of the drift this feature corrects for.

Flip the switch back off before disarming and the capture is abandoned, restoring the previous center exactly -- nothing is written unless you disarm while the new center is still active, at which point it's saved the same way any other live-adjusted value is (on disarm).

For a manual alternative -- nudging an axis's center by a fixed amount per switch flick, rather than capturing a sustained stick correction -- see In-Flight Trim on the Servos tab.

Auto Trim fixes a steady, always-there offset -- it isn't the right tool for a pitch change that only shows up when flaps go down. If the plane trims out fine clean but balloons (or dips) with flaps out, see Mixer → Flap-to-Elevator Compensation instead.