diff --git a/docs/zh/config_fw/airspeed_scale_handling.md b/docs/zh/config_fw/airspeed_scale_handling.md
index 831edd4144..02f745fc72 100644
--- a/docs/zh/config_fw/airspeed_scale_handling.md
+++ b/docs/zh/config_fw/airspeed_scale_handling.md
@@ -78,13 +78,19 @@ Follow these steps:
 
 1. **Set an Initial Scale**
 
-   Use a conservative starting point: set the CAS scale (`ASPD_SCALE_n`) slightly under 1.0 (for example 0.95).
-   This biases the system toward over-speed rather than under-speed, reducing stall risk.
+   Set the CAS scale (`ASPD_SCALE_n`) to 1.0 (the default value).
+   When the scale is at exactly 1.0, PX4 automatically accelerates the learning process during the first 5 minutes of flight, allowing faster convergence to the correct scale value.
 
 2. **Perform a Flight**
 
    After takeoff, place the vehicle in loiter for about 15 minutes to allow the scale estimation to converge.
 
+   ::: tip
+   Flying in circles (loiter/hold mode) is important as the scale-validation algorithm requires the aircraft to pass through multiple heading segments (12 segments covering all compass directions).
+   If these heading segments aren’t completed, PX4 cannot validate the estimated scale.
+
+:::
+
 3. **Check Scale Convergence**
 
    After the flight, review the estimated scale in logs.
diff --git a/docs/zh/flight_modes_fw/mission.md b/docs/zh/flight_modes_fw/mission.md
index e3d9dcb654..ee19cd8b22 100644
--- a/docs/zh/flight_modes_fw/mission.md
+++ b/docs/zh/flight_modes_fw/mission.md
@@ -167,6 +167,10 @@ Mission Items:
 - [MAV_CMD_OBLIQUE_SURVEY](https://mavlink.io/en/messages/common.html#MAV_CMD_OBLIQUE_SURVEY)
 - [MAV_CMD_DO_SET_CAMERA_ZOOM](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_CAMERA_ZOOM)
 - [MAV_CMD_DO_SET_CAMERA_FOCUS](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_CAMERA_FOCUS)
+- [MAV_CMD_DO_AUTOTUNE_ENABLE](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_AUTOTUNE_ENABLE)
+  - Disabling autotune by setting `param1` to zero is currently not supported. To abort autotune during a mission, switch to another flight mode.
+  - Axis selection specified in the MAVLink message is ignored (`param2` must be set to 0).
+    Instead, the axis bitmask defined by [`FW_AT_AXES`](../advanced_config/parameter_reference.md#FW_AT_AXES) is used.
 
 GeoFence Definitions
 
diff --git a/docs/zh/flight_modes_mc/mission.md b/docs/zh/flight_modes_mc/mission.md
index 7b8b03cb2d..9d30914129 100644
--- a/docs/zh/flight_modes_mc/mission.md
+++ b/docs/zh/flight_modes_mc/mission.md
@@ -171,6 +171,9 @@ Mission Items:
 - [MAV_CMD_NAV_VTOL_TAKEOFF](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_VTOL_TAKEOFF)
   - `MAV_CMD_NAV_VTOL_TAKEOFF.param2` (transition heading) is ignored.
     Instead the heading to the next waypoint is used for the transition heading. <!-- at LEAST until PX4 v1.13: https://github.com/PX4/PX4-Autopilot/issues/12660 -->
+- [MAV_CMD_DO_AUTOTUNE_ENABLE](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_AUTOTUNE_ENABLE)
+  - Disabling autotune by setting `param1` to zero is currently not supported. To abort autotune during a mission, switch to another flight mode.
+  - Axis selection specified in the MAVLink message is ignored (`param2` must be set to 0) .
 
 GeoFence Definitions