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docs: update airspeed scale docs to include accelerated learning when ASPD_SCALE_n=1

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mahima-yoga 2025-12-05 15:49:55 +01:00 committed by Mahima Yoga
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docs/en/config_fw/airspeed_scale_handling.md
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@ -77,13 +77,18 @@ 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.