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mahima-yoga merged 1 commit into from
Oct 13, 2025
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Update autotune README #44

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30 changes: 24 additions & 6 deletions autotune/README.md
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Expand Up @@ -40,13 +40,31 @@ python3 autotune.py

### Flight Maneuvers

Using default PX4 gains. Perform these maneuvers separately for each axis: roll, pitch, and yaw.
Ensure your vehicle passes the pre-tuning test as outlined [here](https://docs.px4.io/main/en/config/autotune_fw.html#pre-tuning-test).

1. Requires valid airspeed measurement, and a correctly set FW_AIRSPD_TRIM.
2. Fly in stabilized mode and start from level flight.
3. Apply a manual sine chirp input (sine wave with increasing frequency) on the selected axis. Avoid any other control inputs simultaneously.
4. For pitch and yaw: The amplitude of the input should not be too high, but should be enough to overcome noise.
5. Repeat the maneuver a few times if necessary to capture good data.
#### Use automated maneuvers (Recommended)

1. Configure your setup to use the PX4 autotune maneuvers without applying the identified gains online:

```
FW_AT_APPLY = Do not apply the new gains (logging only)
FW_AT_AXES = 7 # Enables maneuvers on all three axes (adjust as needed)
FW_AT_SYSID_F1 = 10
FW_AT_SYSID_TYPE = Logarithmic sine sweep
```

2. Enable an [autotune switch](https://docs.px4.io/main/en/config/autotune_fw.html#enable-disable-autotune-switch) on your RC transmitter.
3. Follow the procedure described [here](https://docs.px4.io/main/en/config/autotune_fw.html#auto-tuning-procedure) to perform the maneuvers.
Since FW_AT_APPLY is set to logging only, step 5 of the procedure (applying new gains and testing) will not be executed.

#### Perform manual maneuvers

Perform these maneuvers separately for each axis: roll, pitch, and yaw.

1. Fly in stabilized mode and start from level flight.
2. Apply a manual sine chirp input (sine wave with increasing frequency) on the selected axis. Avoid any other control inputs simultaneously.
3. For pitch and yaw: The amplitude of the input should not be too high, but should be enough to overcome noise.
4. Repeat the maneuver a few times if necessary to capture good data.

### Using the Tool

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