1. set-up one flight mode switch position to be AltHold
设置一个气压定高的飞行模式
2. set the Ch7 Opt or Ch8 Opt to Autotune to allow turning on/off the auto tuning with the ch7 or ch8 switch
设置输入通道7或者8（以下只说7为例）为autotune（自动调参）的开关（在full parameter list里面设置，然后需要设置遥控能够给输入通道7输入低于1200和高于1800pwm值的信号，遥控器自己去设置，这里不说）
3. ensure the ch7 or ch8 switch is in the LOW position
给通道7输入低pwm值（低于1200）
4. wait for a calm day and go to a large open area
找个无风的宽阔场地
5. take off and put the copter into AltHold mode at a comfortable altitude
起飞，然后切换到气压定高模式
6. put the ch7/ch8 switch into the HIGH position to engage auto tuning:
给通道七输入高pwm（高于1800）
you will see it twitch about 20 degrees left and right for a few minutes, then it will repeat forward and back
你会看到飞机各种抽搐几分钟，然后重复前进后退
use the roll and pitch stick at any time to reposition the copter if it drifts away (it will use the original PID gains during repositioning and between tests)
如果飞机飞跑了，任何时候可以使用摇杆操作飞回来（测试和定位（遥控纠正）期间使用旧的pid飞行，貌似遥控干预会打断自动调参，所以需要大场地让他自己飞）
move the ch7/ch8 switch into the LOW position at any time to abandon the autotuning and return to the origin PIDs
在任何时候给通道7输入低pwm值会打断自动调参并回到旧的pid值
7. when the tune completes the copter will change back to the original PID gains
等测试结束，飞机会变回旧的pid
8. put the ch7/ch8 switch into the LOW position then back to the HIGH position to test the tuned PID gains
切换开关给通道七输入低pwm值然后再输入高pwm值来测试新的pid
9. put the ch7/ch8 switch into the LOW position to fly using the original PID gains
切换开关给通道7输入低pwm值使用旧的pid（可以比较两个pid哪个更稳）
10. If you are happy with the autotuned PID gains leave the ch7/ch8 switch in the HIGH position, land and disarm to save the PIDs permanently.
如果你对新的pid满意，保持输入高pwm，降落并加锁，自动保存新的pid
If you DO NOT like the new PIDS switch ch7/ch8 LOW to return to the original PIDs. The gains will not be saved when you disarm
如果你不喜欢新的pid，切换到低pwm值，降落加锁放弃新pid
设置一个气压定高的飞行模式
2. set the Ch7 Opt or Ch8 Opt to Autotune to allow turning on/off the auto tuning with the ch7 or ch8 switch
设置输入通道7或者8（以下只说7为例）为autotune（自动调参）的开关（在full parameter list里面设置，然后需要设置遥控能够给输入通道7输入低于1200和高于1800pwm值的信号，遥控器自己去设置，这里不说）
3. ensure the ch7 or ch8 switch is in the LOW position
给通道7输入低pwm值（低于1200）
4. wait for a calm day and go to a large open area
找个无风的宽阔场地
5. take off and put the copter into AltHold mode at a comfortable altitude
起飞，然后切换到气压定高模式
6. put the ch7/ch8 switch into the HIGH position to engage auto tuning:
给通道七输入高pwm（高于1800）
you will see it twitch about 20 degrees left and right for a few minutes, then it will repeat forward and back
你会看到飞机各种抽搐几分钟，然后重复前进后退
use the roll and pitch stick at any time to reposition the copter if it drifts away (it will use the original PID gains during repositioning and between tests)
如果飞机飞跑了，任何时候可以使用摇杆操作飞回来（测试和定位（遥控纠正）期间使用旧的pid飞行，貌似遥控干预会打断自动调参，所以需要大场地让他自己飞）
move the ch7/ch8 switch into the LOW position at any time to abandon the autotuning and return to the origin PIDs
在任何时候给通道7输入低pwm值会打断自动调参并回到旧的pid值
7. when the tune completes the copter will change back to the original PID gains
等测试结束，飞机会变回旧的pid
8. put the ch7/ch8 switch into the LOW position then back to the HIGH position to test the tuned PID gains
切换开关给通道七输入低pwm值然后再输入高pwm值来测试新的pid
9. put the ch7/ch8 switch into the LOW position to fly using the original PID gains
切换开关给通道7输入低pwm值使用旧的pid（可以比较两个pid哪个更稳）
10. If you are happy with the autotuned PID gains leave the ch7/ch8 switch in the HIGH position, land and disarm to save the PIDs permanently.
如果你对新的pid满意，保持输入高pwm，降落并加锁，自动保存新的pid
If you DO NOT like the new PIDS switch ch7/ch8 LOW to return to the original PIDs. The gains will not be saved when you disarm
如果你不喜欢新的pid，切换到低pwm值，降落加锁放弃新pid
