That's a good description in your link.

As you say, it does not completely support your statement. You will notice that all of the diagrams show the blades at positive pitch during auto. This is quite normal for full size helis.

I don't know how much pitch is required on a model. I guess the only way to really find out would be to increase pitch until the model doesn't auto any more. I am not volunteering to try this out though!