diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index 374e347b26..d354440271 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -63,7 +63,8 @@
 #include <AP_Arming/AP_Arming.h>            // ArduPilot motor arming library
 #include <AP_SmartRTL/AP_SmartRTL.h>        // ArduPilot Smart Return To Launch Mode (SRTL) library
 #include <AP_TempCalibration/AP_TempCalibration.h>  // temperature calibration library
-#include <AC_AutoTune/AC_AutoTune.h>        // ArduCopter autotune library. support for autotune of multirotors.
+#include <AC_AutoTune/AC_AutoTune_Multi.h>  // ArduCopter autotune library. support for autotune of multirotors.
+#include <AC_AutoTune/AC_AutoTune_Heli.h>   // ArduCopter autotune library. support for autotune of helicopters.
 #include <AP_Parachute/AP_Parachute.h>      // ArduPilot parachute release library
 #include <AC_Sprayer/AC_Sprayer.h>          // Crop sprayer library
 #include <AP_ADSB/AP_ADSB.h>                // ADS-B RF based collision avoidance module library
diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index a404e4eac8..d7bf4d3ea2 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -55,7 +55,7 @@
 #if FRAME_CONFIG == HELI_FRAME
   # define RC_FAST_SPEED                        125
   # define WP_YAW_BEHAVIOR_DEFAULT              WP_YAW_BEHAVIOR_LOOK_AHEAD
-  # define AUTOTUNE_ENABLED                     DISABLED
+  # define AUTOTUNE_ENABLED                     ENABLED
 #endif
 
 //////////////////////////////////////////////////////////////////////////////
diff --git a/ArduCopter/mode.h b/ArduCopter/mode.h
index 7e828d0244..994b522240 100644
--- a/ArduCopter/mode.h
+++ b/ArduCopter/mode.h
@@ -586,7 +586,12 @@ private:
 /*
   wrapper class for AC_AutoTune
  */
-class AutoTune : public AC_AutoTune
+
+#if FRAME_CONFIG == HELI_FRAME
+class AutoTune : public AC_AutoTune_Heli
+#else
+class AutoTune : public AC_AutoTune_Multi
+#endif
 {
 public:
     bool init() override;