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Autotune large MC vehicles (#24614)

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Hamish Willee 2025-04-03 14:21:00 +11:00 committed by GitHub
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docs/en/config/_autotune.md
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@ -127,6 +127,20 @@ Additional notes:
- Whether tuning is applied while flying or after landing can be [configured using parameters](#apply-tuning-when-in-air-landed).
<div v-if="$frontmatter.frame === 'Multicopter'">
## Autotuning Large Vehicles
For big multicopter vehicles you may need to increase the desired raise time of the step response [MC_AT_RISE_TIME](../advanced_config/parameter_reference.md#MC_AT_RISE_TIME).
This requires some trial and error as an appropriate rise time depends on both vehicle size and the rotor response.
Note that if there are slow oscillations in pretuning it may mean that the attitude loop is too fast compared to the rate loop.
In this case you should troubleshoot as described in [Drone oscillates when performing the pre-tuning test](#drone-oscillates-when-performing-the-pre-tuning-test).
<!-- Fixed wing rise time is hardcoded (it's lower than on multirotors and is probably enough for most platforms). -->
</div>
## Troubleshooting
### Drone oscillates when performing the pre-tuning test