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我刚用百度翻了个，觉得没有什么用啊，是不是资料老了点？
AutoTune
自动调试
Autotune is a new feature in CleanFlight ported from Bradwii, which allows the copter to automatically find the “most suitable” PID settings. The idea of it is that Naze32 will keep increase P gain, if the quad goes up down and overshoots, it will be detected and P will be adjusted. Here is the document explains what Autotune is in more detail.
自动调试是从Bradwii移植到Cleanflight的新功能，它允许飞行器自动寻找“最适合”的PID设置。其思路是不断增加Naze32的P值，直到飞机上下抖动，它将进行检测并对P值进行调整。这篇文章对自动调参进行了详细解释[链接]
Autotune exists as a flight mode in the configurator GUI. To enable Autotune, you first need to assign it a AUX switch, and you can activate it in the air.
自动调参在GUI 配置中以飞行模式的形式存在。要启用自动调参，你首先需要为它指定一个辅助开关，你可以在空中激活它。
cleanflight-autotune-flight-mode-gui[图片]
Autotune basically gives full control of your quadcopter to the flight controller, and it will carry out a series of tuning cycles, perform all sorts of movements to determine the “best” PID settings. As it gets further into the tuning cycle, movement can be quite large and harsh, so make sure you do this in a big open field, without people property around. You should interrupt and disable autotune (by flipping the flight mode switch), if it’s getting unsafe. Also some people suggest a full tuning session is not necessary.
自动调参基本上完全控制飞机的飞行控制器，它将进行一系列的调整周期，执行各种动作来确定“最佳”的PID设置。当它进一步进入调整周期时，运动幅度范围是相当大的，苛刻的，所以你要确保在一个大的开放领域，周围没有人财产。如果自动调参进行时，出现了不安全的情况，你应该中断和禁用自动调参（通过切换飞行模式开关）。也有人建议一个完整的调整过程是没有必要的。
I think Autotune is a great tool for someone who are not comfortable with PID tuning, or not happy with the PID settings they have now. But in a recent CleanFlight talk (Nov 2014), Dominic (who started Cleanflight) admitted that “Autotune is not particularly useful yet”, and “Autotuning needs tuning”. I suppose this is still a very early stage for this advance feature, and we should see more improvement in the near future.
我觉得自动调参是一个伟大的工具，尽管有些人不满意PID设置，或不满意他们现有的PID设置。但在最近的cleanflight话题中（2014年11月份），多米尼克（cleanflight创始人）承认，“自动调参还不是特别有用”，和“自动调参需要调整”。我想这是一个非常早期的阶段，在不久的将来，我们会看到更多的改善。
More tips on Autotune coming soon.
更多的自动调参技术即将来临。
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发表于 2016-2-18 11:26
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