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Stavros Korokithakis 2021-07-06 02:08:18 +03:00
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18
content/drone-stuff/ardupilot-setup-checklist.md
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@ -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). 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. 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. - Take measurements in the field.
- Set parameters on the bench, based on your measurements. - 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 ### In the field
You should perform the measurements in four stages, all in the FBWA mode: 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_PITCH_MIN` (degrees) to the pitch angle you measured.
- [ ] Set `TECS_SINK_MAX` (m/s) to the descent rate 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! That's it!

2
content/drone-stuff/tecs-tuning-calculator.md
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@ -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_MIN=" + downSpeed
+ " \\\n TECS_SINK_MAX=" + downMoreSpeed + " \\\n TECS_SINK_MAX=" + downMoreSpeed
+ " \\\n FBWB_CLIMB_RATE=" + upSpeed + " \\\n FBWB_CLIMB_RATE=" + upSpeed
+ " \\\n LIM_PITCH_MAX=" + Math.round(upPitch * 1.2)
+ " \\\n LIM_PITCH_MIN=-" + Math.round(downMorePitch * 1.2)
); );
} }
</script> </script>