From 724987d59eac5adf940c09dacb5f2f44f3885355 Mon Sep 17 00:00:00 2001
From: Hamish Willee <hamishwillee@gmail.com>
Date: Thu, 3 Apr 2025 14:21:00 +1100
Subject: [PATCH] Autotune large MC vehicles (#24614)

---
 docs/en/config/_autotune.md | 14 ++++++++++++++
 1 file changed, 14 insertions(+)

diff --git a/docs/en/config/_autotune.md b/docs/en/config/_autotune.md
index c928759f77..0a87201c7a 100644
--- a/docs/en/config/_autotune.md
+++ b/docs/en/config/_autotune.md
@@ -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