From 58282c52921b1d9f7ce487d750535623c215dffb Mon Sep 17 00:00:00 2001 From: Hamish Willee Date: Wed, 19 Mar 2025 17:26:17 +1100 Subject: [PATCH] Autotune tidy - hopefully improve translations (#24559) --- docs/en/config/_autotune.md | 27 +++++++++++++-------------- 1 file changed, 13 insertions(+), 14 deletions(-) diff --git a/docs/en/config/_autotune.md b/docs/en/config/_autotune.md index 9e5893a6a4..54f9e91056 100644 --- a/docs/en/config/_autotune.md +++ b/docs/en/config/_autotune.md @@ -40,13 +40,13 @@ To make sure the vehicle is stable enough for auto-tuning: 1. Perform a normal preflight safety checklist to ensure the flight zone is clear and has enough space. -1. Take off and
hover at 1m above ground in [Altitude mode](../flight_modes_mc/altitude.md) or [Stabilized mode](../flight_modes_mc/manual_stabilized.md)
fly at cruise speed in [Position mode](../flight_modes_fw/position.md) or [Altitude mode](../flight_modes_fw/altitude.md)
. +2. Take off and
hover at 1m above ground in [Altitude mode](../flight_modes_mc/altitude.md) or [Stabilized mode](../flight_modes_mc/manual_stabilized.md)
fly at cruise speed in [Position mode](../flight_modes_fw/position.md) or [Altitude mode](../flight_modes_fw/altitude.md)
. -1. Use the RC transmitter roll stick to perform the following maneuver, tilting the vehicle just a few degrees: _roll left > roll right > center_ (The whole maneuver should take about 3 seconds). +3. Use the RC transmitter roll stick to perform the following maneuver, tilting the vehicle just a few degrees: _roll left > roll right > center_ (The whole maneuver should take about 3 seconds). The vehicle should stabilise itself within 2 oscillations. -1. Repeat the maneuver, tilting with larger amplitudes at each attempt. +4. Repeat the maneuver, tilting with larger amplitudes at each attempt. If the vehicle can stabilise itself within 2 oscillations at ~20 degrees move to the next step. -1. Repeat the same maneuvers but on the pitch axis. +5. Repeat the same maneuvers but on the pitch axis. As above, start with small angles and confirm that the vehicle can stabilise itself within 2 oscillations before increasing the tilt. If the drone can stabilize itself within 2 oscillations it is ready for the [auto-tuning procedure](#auto-tuning-procedure). @@ -69,12 +69,12 @@ The test steps are: 1. Perform the [pre-tuning test](#pre-tuning-test). -1. Takeoff using RC control
in [Altitude mode](../flight_modes_mc/altitude.md). +2. Takeoff using RC control
in [Altitude mode](../flight_modes_mc/altitude.md). Hover the vehicle at a safe distance and at a few meters above ground (between 4 and 20m).
Once flying at cruise speed, activate [Hold mode](../flight_modes_fw/hold.md). This will guide the plane to fly in circle at constant altitude and speed.
-1. Enable autotune. +3. Enable autotune.

TIP

@@ -87,13 +87,13 @@ The test steps are: ![Tuning Setup > Autotune Enabled](../../assets/qgc/setup/autotune/autotune.png) - 1. Select either the _Rate Controller_ or _Attitude Controller_ tabs. - 1. Ensure that the **Autotune enabled** button is enabled (this will display the **Autotune** button and remove the manual tuning selectors). - 1. Read the warning popup and click on **OK** to start tuning. + 2. Select either the _Rate Controller_ or _Attitude Controller_ tabs. + 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. -1. The drone will first start to perform quick roll motions followed by pitch and yaw motions. +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. -1.
Manually land and disarm to apply the new tuning parameters. +5.
Manually land and disarm to apply the new tuning parameters. Takeoff carefully and manually test that the vehicle is stable.
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.
@@ -164,7 +164,6 @@ Attempt manual tuning using the guides listed in [See also](#see-also) below. ### Apply Tuning when In-Air/Landed -
By multicopters land before parameters are applied. @@ -196,8 +195,8 @@ A remote control switch can be configured to enable/disable autotune (in any mod To map a switch: 1. Select an RC channel on your controller to use for the autotune enable/disable switch. -1. Set [RC_MAP_AUX1](../advanced_config/parameter_reference.md#RC_MAP_AUX1) to match the RC channel for your switch (you can use any of `RC_MAP_AUX1` to `RC_MAP_AUX6`). -1. Set [FW_AT_MAN_AUX](../advanced_config/parameter_reference.md#FW_AT_MAN_AUX) to the selected channel (i.e. `1: Aux 1` if you mapped `RC_MAP_AUX1`). +2. Set [RC_MAP_AUX1](../advanced_config/parameter_reference.md#RC_MAP_AUX1) to match the RC channel for your switch (you can use any of `RC_MAP_AUX1` to `RC_MAP_AUX6`). +3. Set [FW_AT_MAN_AUX](../advanced_config/parameter_reference.md#FW_AT_MAN_AUX) to the selected channel (i.e. `1: Aux 1` if you mapped `RC_MAP_AUX1`). The auto tuner will be disabled when the switch is below `0.5` (on the manual control setpoint range of of `[-1, 1]`) and enabled when the switch channel is above `0.5`.