Updates

content/drone-stuff/ardupilot-setup-checklist.md

@@ -150,11 +150,20 @@ The values in this section are specific to the Omnibus F4, but the settings aren
 To tune the TECS, a helpful resource is the [TECS tuning guide](https://ardupilot.org/plane/docs/tecs-total-energy-control-system-for-speed-height-tuning-guide.html).
 Make sure you have run an autotune beforehand, and continue with the tuning below.
 
-In tuning, there are two stages:
+In tuning, there are three stages:
 
+- Prepare to measure
 - Take measurements in the field.
 - Set parameters on the bench, based on your measurements.
 
+### Preparation
+
+- [ ] Set `LIM_PITCH_MAX=4500` (centidegrees), or something similarly high.
+  This is the maximum pitch you'll be achieving in FBWA, and you don't want to be limited by this while trying to tune.
+- [ ] Set `LIM_PITCH_MIN=-4500` (centidegrees) or something similarly low.
+  This is the minimum pitch you'll be achieving in FBWA, and you don't want to be limited by this either.
+
+
 ### In the field
 
 You should perform the measurements in four stages, all in the FBWA mode:
@@ -228,13 +237,6 @@ For the max descent measurements:
 - [ ] Set `TECS_PITCH_MIN` (degrees) to the pitch angle you measured.
 - [ ] Set `TECS_SINK_MAX` (m/s) to the descent rate you measured.
 
-Afterwards:
-
-- [ ] Set `LIM_PITCH_MAX` (centidegrees) to something higher than `TECS_PITCH_MAX`.
-  This is the maximum pitch you'll be achieving in FBWA.
-- [ ] Set `LIM_PITCH_MIN` (centidegrees) to something lower than `TECS_PITCH_MIN`.
-  This is the minimum pitch you'll be achieving in FBWA.
-
 That's it!
 
 

content/drone-stuff/tecs-tuning-calculator.md

@@ -40,8 +40,6 @@ To use this calculator, first follow the steps in the [TECS tuning section](../.
         + " \\\n    TECS_SINK_MIN=" + downSpeed
         + " \\\n    TECS_SINK_MAX=" + downMoreSpeed
         + " \\\n    FBWB_CLIMB_RATE=" + upSpeed
-        + " \\\n    LIM_PITCH_MAX=" + Math.round(upPitch * 1.2)
-        + " \\\n    LIM_PITCH_MIN=-" + Math.round(downMorePitch * 1.2)
         );
 	}
 </script>