From 5490b169e7d5f477ab8d3273e7fef6fd04f9675e Mon Sep 17 00:00:00 2001 From: Stavros Korokithakis Date: Tue, 6 Jul 2021 02:08:18 +0300 Subject: [PATCH] Updates --- .../drone-stuff/ardupilot-setup-checklist.md | 18 ++++++++++-------- content/drone-stuff/tecs-tuning-calculator.md | 2 -- 2 files changed, 10 insertions(+), 10 deletions(-) diff --git a/content/drone-stuff/ardupilot-setup-checklist.md b/content/drone-stuff/ardupilot-setup-checklist.md index 21e0dd6..3494b39 100644 --- a/content/drone-stuff/ardupilot-setup-checklist.md +++ b/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! diff --git a/content/drone-stuff/tecs-tuning-calculator.md b/content/drone-stuff/tecs-tuning-calculator.md index 122115b..0903d6d 100644 --- a/content/drone-stuff/tecs-tuning-calculator.md +++ b/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) ); }