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Stavros Korokithakis 2021-05-01 19:10:08 +03:00
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content/drone-stuff/ardupilot-setup-checklist.md
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@ -203,32 +203,32 @@ After you have the above measurements, you're ready to tune things.
For the level flight measurements: For the level flight measurements:
- [ ] Set `TRIM_ARSPD_CM` to your "comfortable cruise speed". - [ ] Set `TRIM_ARSPD_CM` (cm/s) to your "comfortable cruise speed".
- [ ] Set `TRIM_THROTTLE` to your cruise throttle percentage. - [ ] Set `TRIM_THROTTLE` (percentage) to your cruise throttle percentage.
- [ ] Set `ARSPD_FBW_MAX` to something a bit less than the maximum airspeed you achieved in level flight. - [ ] Set `ARSPD_FBW_MAX` (m/s) to something a bit less than the maximum airspeed you achieved in level flight.
- [ ] Set `THR_MAX` to the throttle percentage at max speed. - [ ] Set `THR_MAX` (percentage) to the throttle percentage at max speed.
- [ ] Set `ARSPD_FBW_MIN` to the slowest speed you could turn at without stalling (maybe go a bit higher for some margin). - [ ] Set `ARSPD_FBW_MIN` (m/s) to the slowest speed you could turn at without stalling (maybe go a bit higher for some margin).
- [ ] Set `STAB_PITCH_DOWN` to the pitch angle that keeps you from stalling. - [ ] Set `STAB_PITCH_DOWN` (degrees) to the pitch angle that keeps you from stalling.
For the ascent measurements: For the ascent measurements:
- [ ] Set `TECS_PITCH_MAX` to the pitch angle you measured. - [ ] Set `TECS_PITCH_MAX` (degrees) to the pitch angle you measured.
- [ ] Set `TECS_CLMB_MAX` to the climb rate you measured. - [ ] Set `TECS_CLMB_MAX` (m/s) to the climb rate you measured.
For the descent measurements: For the descent measurements:
- [ ] Set `TECS_SINK_MIN` to the descent rate you measured. - [ ] Set `TECS_SINK_MIN` (m/s) to the descent rate you measured.
For the max descent measurements: For the max descent measurements:
- [ ] Set `TECS_PITCH_MIN` to the pitch angle you measured. - [ ] Set `TECS_PITCH_MIN` (degrees) to the pitch angle you measured.
- [ ] Set `TECS_SINK_MAX` to the descent rate you measured. - [ ] Set `TECS_SINK_MAX` (m/s) to the descent rate you measured.
Afterwards: Afterwards:
- [ ] Set `LIM_PITCH_MAX` to something higher than `TECS_PITCH_MAX`. - [ ] Set `LIM_PITCH_MAX` (centidegrees) to something higher than `TECS_PITCH_MAX`.
This is the maximum pitch you'll be achieving in FBWA. This is the maximum pitch you'll be achieving in FBWA.
- [ ] Set `LIM_PITCH_MIN` to something lower than `TECS_PITCH_MIN`. - [ ] Set `LIM_PITCH_MIN` (centidegrees) to something lower than `TECS_PITCH_MIN`.
This is the minimum pitch you'll be achieving in FBWA. This is the minimum pitch you'll be achieving in FBWA.
That's it! That's it!