4.6:Autotune gains test switch

common/source/docs/common-auxiliary-functions.rst

@@ -280,6 +280,8 @@ Supported Features
 +----------------------+----------------------------+----------+---------+---------+
 |        176           | VTOL Fwd Throttle disable  |          |    X    |         |
 +----------------------+----------------------------+----------+---------+---------+
+|        180           | Autotune_test_gains        |    X     |    X    |         |
++----------------------+----------------------------+----------+---------+---------+
 
 Intended as continuous PWM range control inputs:
 
@@ -569,6 +571,7 @@ Other functions are:
     Camera Image Tracking                 Activate Camera Image Tracking (only supported by ViewPro camera gimbals)
     Camera Lens                           Select the active camera lens (only supported by ViewPro camera gimbals)
     VTOL Fwd Throttle disable             Overrides use of forward throttle in VTOL modes
+    Autotune_test_gains                   After autotune,allows selecting tune(high) or pretune gains
     ROLL Input                            ROLL input channel. (replaces RCMAP)
     PITCH Input                           PITCH input channel. (replaces RCMAP)
     THROTTLE Input                        THROTTLE input channel. (replaces RCMAP)

copter/source/docs/autotune.rst

@@ -102,6 +102,11 @@ AutoTune performs a weak position hold if invoked from Loiter or PosHold flight
 - To twitch perpendicular to the wind direction, the vehicle may suddenly rotate in either direction up to 90 degrees as it drifts 5m (or more) from the target location.
 - If there is little or no wind, the vehicle's gentle position control may mean it moves back and forth, ping-ponging around the target point changing yaw each time it strays more than 5m from the target.  In these cases, it may be more comfortable to revert to the simpler AltHold-based AutoTune. 
 
+Testing Tune in Other Modes
+===========================
+
+The completed suceesfull tune obtained can be tested in any mode, not just the one (ALTHOLD or LOITER) used for entry. A switch can be setup,``RCx_OPTION`` = 180 (AUTOTUNE_TEST_GAINS) that will allow switching between original and autotuned gains in any mode, after autotune has completed. If this switch is setup, but not changed after the auotune has completed, it has no effect. Otherwise if switched high the tuned gains are in effect, if low the original gains. Then they apply to any flight mode and will be made permanent upon the next disarm, based on  switch position.
+
 If AutoTune fails
 =================
 

plane/source/docs/automatic-tuning-with-autotune.rst

@@ -129,6 +129,11 @@ Very light, agile aircraft may fail to complete the tune, or result in a tune th
 
 .. note:: increasing the gyro filter cutof may allow more system noise into the control loops and setting up a :ref:`dynamic throttle notch filter<common-throttle-based-notch>` or :ref:`in-flight FFT<common-imu-fft>` is recommended (if your autopilot firmware includes this feature.. see: :ref:`Firmware Limitations<common-limited_firmware>` ).
 
+Testing Tune in Other Modes
+===========================
+
+The completed suceesfull tune obtained can be tested in any mode, not just the one (QHOVER or QLOITER) used for entry. A switch can be setup,``RCx_OPTION`` = 180 (AUTOTUNE_TEST_GAINS) that will allow switching between original and autotuned gains in any mode, after autotune has completed. If this switch is setup, but not changed after the auotune has completed, it has no effect. Otherwise if switched high the tuned gains are in effect, if low the original gains. Then they apply to any flight mode and will be made permanent upon the next disarm, based on  switch position.
+
 ACRO Mode YAW Rate Controller
 =============================