autorotation is one of modes of operation of ANY propeller.
please remember... it is NOT windmilling. - you'll need this trivia later.
now, we wlll be talking about ACTUAL helicopters, not RC models.
the main rotor of a helicopter has its momentum, when spinning. if the power supply stops (engine failure) the momentum is transferred into the mass of air being blown downwards, while the rotor RPM droop.
so.. the pilot of the helicopter lowers the collective control lever, which reduces the pitch of all main rotor blades. NOT INTO THE NEGATIVE VALUES (negative values are nonexistent in real helicopters).
by reducing the pitch to certain value, the compound vector of the vertical speed AND the rotational speed produces aerodynamic reaction at the blade. the reaction is always perpendicular to the compound vector. now, AS LONG as the reaction vector stays pointing parallel to rotor axis, the rotation is stable and you are NOT trading momentum for lift. if the reaction is pointing forward of the rotor axis, the blade is accelerated, if pointing behind, the blade is decelerating (and RPM are drooping).
this way, you keep the momentum of the rotor for your last pull, during the flare in appropriate height over the terrain. there you use up the momentum to blow enough air downwards to stop the descent and you land safely.
----------
people often think that the rotor would need negative pitch to autorotate.. that is false, as this setup would only be necessary for spinning up the rotor from ZERO RPM.- then, the rotor would be windmilling, and WOULD need negative pitch to spin the proper way.