diff --git a/plane/source/docs/automatic-tuning-with-autotune.rst b/plane/source/docs/automatic-tuning-with-autotune.rst index 6aab6c7c97..1963a3a74e 100644 --- a/plane/source/docs/automatic-tuning-with-autotune.rst +++ b/plane/source/docs/automatic-tuning-with-autotune.rst @@ -159,13 +159,12 @@ parameters. The parameters that are needed for most airframes are: -:ref:`NAVL1_PERIOD`: This defaults to 25, which is a very conservative value +:ref:`NAVL1_PERIOD`: This default is a very conservative value designed to cope with badly tuned airframes. It controls how sharply the aircraft will turn in automatic modes (such as AUTO, RTL and LOITER). -Most aircraft should use a significantly lower value. Once you have -completed a successful autotune of roll and pitch values you should drop -:ref:`NAVL1_PERIOD` to 18 if you have not tuned it yet. To tune beyond that -level you should fly a rectangular mission in AUTO mode and adjust +Most aircraft should use a significantly lower value. +To tune it, +you should fly a rectangular mission in AUTO mode and adjust :ref:`NAVL1_PERIOD` down by 1 at a time until the aircraft turns at a rate you are happy with, and does not "wag its tail" in flight.