diff --git a/ArduCopter/control_autotune.cpp b/ArduCopter/control_autotune.cpp
index 910d174d5c..ba67395848 100644
--- a/ArduCopter/control_autotune.cpp
+++ b/ArduCopter/control_autotune.cpp
@@ -271,7 +271,7 @@ void Copter::autotune_run()
     if (!motors.armed() || !ap.auto_armed || !motors.get_interlock()) {
         motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
         attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
-        pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->get_control_in())-motors.get_throttle_hover());
+        pos_control.relax_alt_hold_controllers(0.0f);
         return;
     }
 
@@ -304,7 +304,7 @@ void Copter::autotune_run()
         }
         // move throttle to between minimum and non-takeoff-throttle to keep us on the ground
         attitude_control.set_throttle_out(get_throttle_pre_takeoff(channel_throttle->get_control_in()),false,g.throttle_filt);
-        pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->get_control_in())-motors.get_throttle_hover());
+        pos_control.relax_alt_hold_controllers(0.0f);
     }else{
         // check if pilot is overriding the controls
         if (!is_zero(target_roll) || !is_zero(target_pitch) || !is_zero(target_yaw_rate) || target_climb_rate != 0) {