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docs: update fixed-wing autotune docs

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mahima-yoga 2025-10-02 13:59:16 +02:00 committed by Mahima Yoga
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docs/en/config/_autotune.md
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@ -91,9 +91,17 @@ The test steps are:
3. Ensure that the **Autotune enabled** button is enabled (this will display the **Autotune** button and remove the manual tuning selectors).
4. Read the warning popup and click on **OK** to start tuning.
<div style="display: inline;" v-if="$frontmatter.frame === 'Multicopter'">
4. The drone will first start to perform quick roll motions followed by pitch and yaw motions.
The progress is shown in the progress bar, next to the _Autotune_ button.
</div><div v-else-if="$frontmatter.frame === 'Plane'">
4. The drone will first start to perform quick roll motions followed by pitch and yaw motions. When [`FW_AT_SYSID_TYPE`](../advanced_config/parameter_reference.md#FW_AT_SYSID_TYPE) is set to linear/logarithmic sine sweep (recommended), the max rates are approximately 45 deg/s for roll and 30 deg/s for pitch and yaw.
The progress is shown in the progress bar, next to the _Autotune_ button.
</div>
<div style="display: inline;" v-if="$frontmatter.frame === 'Multicopter'">
5. Manually land and disarm to apply the new tuning parameters.
@ -104,6 +112,13 @@ The test steps are:
5. The tuning will be immediately/automatically be applied and tested in flight (by default).
PX4 will then run a 4 second test and revert the new tuning if a problem is detected.
The figure below shows how steps 4 and 5 might look in flight on the pitch axis.
The pitch rate gradually increases up until it reaches the target.
This amplitude is then held while the signal frequency is increased.
You can then see how the tuned system is able to follow the setpoint in the test signal.
<img src="../../assets/config/fw/autotune.png" title="Fixed-Wing Autotune"/>
</div>
::: warning
@ -170,9 +185,23 @@ Fast oscillations (more than 1 oscillation per second): this is because the gain
### The auto-tuning sequence fails
<div v-if="$frontmatter.frame === 'Multicopter'">
If the drone was not moving enough during auto-tuning, the system identification algorithm might have issues to find the correct coefficients.
Increase the <div style="display: inline;" v-if="$frontmatter.frame === 'Multicopter'">[MC_AT_SYSID_AMP](../advanced_config/parameter_reference.md#MC_AT_SYSID_AMP)</div><div style="display: inline;" v-else-if="$frontmatter.frame === 'Plane'">[FW_AT_SYSID_AMP](../advanced_config/parameter_reference.md#FW_AT_SYSID_AMP)</div> parameter by steps of 1 and trigger the auto-tune again.
Increase the [MC_AT_SYSID_AMP](../advanced_config/parameter_reference.md#MC_AT_SYSID_AMP) parameter by steps of 1 and trigger the auto-tune again.
</div>
<div v-else-if="$frontmatter.frame === 'Plane'">
By default, the autotune maneuvers ensure that a sufficient angular rate is reached for system identification. The target rates are approximately 45 deg/s for roll and 30 deg/s for pitch and yaw.
If the signal-to-noise ratio of the vehicle is low, the system identification algorithm might have issues finding the correct coefficients. Ensure that there is no excessive noise and/or platform vibration.
</div>
### The drone oscillates after auto-tuning