From c962c6a2c159985c04ef57f191354facf6593fc4 Mon Sep 17 00:00:00 2001 From: mahima-yoga Date: Fri, 5 Dec 2025 15:49:55 +0100 Subject: [PATCH] docs: update airspeed scale docs to include accelerated learning when ASPD_SCALE_n=1 --- docs/en/config_fw/airspeed_scale_handling.md | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/docs/en/config_fw/airspeed_scale_handling.md b/docs/en/config_fw/airspeed_scale_handling.md index fe70a37b38..2fb8290c20 100644 --- a/docs/en/config_fw/airspeed_scale_handling.md +++ b/docs/en/config_fw/airspeed_scale_handling.md @@ -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.