Updates

content/drone-stuff/_index.md

@@ -9,7 +9,7 @@ insert_anchor_links = "right"
 Click on a link in the list below to go to that page:
 
 1. [A simple guide to PID control](../../drone-stuff/a-simple-guide-to-pid-control)
-1. [Ardupilot setup checklist](../../drone-stuff/ardupilot-setup-checklist)
+1. [ArduPilot setup checklist](../../drone-stuff/ardupilot-setup-checklist)
 1. [E6000 hinges](../../drone-stuff/e6000-hinges)
 1. [FPV frequency chart](../../drone-stuff/fpv-frequency-chart)
 1. [General RC tips](../../drone-stuff/general-rc-tips)
@@ -20,5 +20,6 @@ Click on a link in the list below to go to that page:
 1. [Omnibus F4 V3 pinout](../../drone-stuff/omnibus-f4-v3-pinout)
 1. [Omnibus F4 pro servo diode](../../drone-stuff/omnibus-f4-pro-servo-diode)
 1. [QGroundControl to Mission Planner conversion script](../../drone-stuff/qgroundcontrol-to-mission-planner-conversion-script)
+1. [TECS tuning calculator](../../drone-stuff/tecs-tuning-calculator)
 1. [Transmitter external module pinout](../../drone-stuff/transmitter-external-module-pinout)
 1. [Transportable C1 Chaser](../../drone-stuff/transportable-c1-chaser)

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

@@ -1,5 +1,5 @@
 +++
-title = "Ardupilot setup checklist"
+title = "ArduPilot setup checklist"
 weight = 2
 sort_by = "weight"
 insert_anchor_links = "right"
@@ -203,6 +203,8 @@ You're done with this step.
 
 After you have the above measurements, you're ready to tune things.
 
+You can either do things manually (below), or use the [TECS tuning calculator](../../drone-stuff/tecs-tuning-calculator) to get the appropriate parameters automatically.
+
 For the level flight measurements:
 
 - [ ] Set `TRIM_ARSPD_CM` (cm/s) to your "comfortable cruise speed".
@@ -266,6 +268,6 @@ _(Many thanks to Michel Pastor for his help with everything in this note.)_
 * * *
 
 <p style="font-size:80%; font-style: italic">
-Last updated on June 22, 2021. For any questions/feedback,
+Last updated on July 06, 2021. For any questions/feedback,
 email me at <a href="mailto:hi@stavros.io">hi@stavros.io</a>.
 </p>

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

@@ -0,0 +1,90 @@
++++
+title = "TECS tuning calculator"
+weight = 13
+sort_by = "weight"
+insert_anchor_links = "right"
++++
+To use this calculator, first follow the steps in the [TECS tuning section](../../drone-stuff/ardupilot-setup-checklist#tuning-the-tecs) of the ArduPilot setup checklist.
+
+<script>
+    function kmhToMs(kmh) { return Math.round(kmh / 3.6); }
+    function kmhToCms(kmh) { return Math.round(kmh / 0.036); }
+
+	function calculateParameters(event) {
+		var cruiseSpeed = Number(document.getElementById("cruiseSpeed").value);
+		var cruiseThrottle = Number(document.getElementById("cruiseThrottle").value);
+		var maxSpeed = Number(document.getElementById("maxSpeed").value);
+		var maxThrottle = Number(document.getElementById("maxThrottle").value);
+		var stallSpeed = Number(document.getElementById("stallSpeed").value);
+		var downPitch = Number(document.getElementById("downPitch").value);
+
+		var upPitch = Number(document.getElementById("upPitch").value);
+		var upSpeed = Number(document.getElementById("upSpeed").value);
+
+		var downSpeed = Number(document.getElementById("downSpeed").value);
+
+		var downMorePitch = Number(document.getElementById("downMorePitch").value);
+		var downMoreSpeed = Number(document.getElementById("downMoreSpeed").value);
+
+		var output = document.getElementById("parachuteCommand");
+        output.textContent = ("parachute set"
+        + " \\\n    TRIM_ARSPD_CM=" + kmhToCms(cruiseSpeed)
+        + " \\\n    TRIM_THROTTLE=" + cruiseThrottle
+        + " \\\n    THR_MAX=" + maxThrottle
+        + " \\\n    ARSPD_FBW_MAX=" + kmhToMs(maxSpeed * 0.95)
+        + " \\\n    ARSPD_FBW_MIN=" + kmhToMs(stallSpeed * 1.05)
+        + " \\\n    STAB_PITCH_DOWN=" + downPitch
+        + " \\\n    TECS_PITCH_MIN=-" + downMorePitch
+        + " \\\n    TECS_PITCH_MAX=" + upPitch
+        + " \\\n    TECS_CLMB_MAX=" + upSpeed
+        + " \\\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>
+
+<form onsubmit="calculateParameters(event); return false">
+
+<h2>Fly straight</h2>
+<p><label>Cruise speed (km/h): <input type="number" min="0" id="cruiseSpeed" /></label></p>
+<p><label>Cruise throttle percentage (%): <input type="number" min="0" max="100" id="cruiseThrottle" /></label></p>
+<p><label>Maximum speed (km/h): <input type="number" min="0" id="maxSpeed" /></label></p>
+<p><label>Maximum throttle (%): <input type="number" min="0" max="100" id="maxThrottle" /></label></p>
+<p><label>Slowest speed (km/h): <input type="number" min="0" id="stallSpeed" /></label></p>
+<p><label>Down pitch (deg): <input type="number" min="0" max="90" id="downPitch" /></label></p>
+
+<h2>Fly up</h2>
+<p><label>Up pitch (deg): <input type="number" min="0" max="90" id="upPitch" /></label></p>
+<p><label>Up speed (m/s): <input type="number" min="0" id="upSpeed" /></label></p>
+
+<h2>Fly down</h2>
+<p><label>Down speed (m/s): <input type="number" min="0" id="downSpeed" /></label></p>
+
+<h2>Fly down more</h2>
+<p><label>Down more pitch (deg): <input type="number" min="0" max="90" id="downMorePitch" /></label></p>
+<p><label>Down more speed (m/s): <input type="number" min="0" id="downMoreSpeed" /></label></p>
+
+<p>
+    <button type="submit">Calculate parameters</button>
+</p>
+
+<p>
+Run this command in a terminal, making sure you have [Parachute](https://gitlab.com/stavros/parachute) installed:
+<code>
+<pre id="parachuteCommand">
+(Please fill out the values above first)
+</pre>
+</code>
+</p>
+</form>
+
+
+* * *
+
+<p style="font-size:80%; font-style: italic">
+Last updated on July 06, 2021. For any questions/feedback,
+email me at <a href="mailto:hi@stavros.io">hi@stavros.io</a>.
+</p>

content/drone-stuff/transmitter-external-module-pinout.md

@@ -1,6 +1,6 @@
 +++
 title = "Transmitter external module pinout"
-weight = 13
+weight = 14
 sort_by = "weight"
 insert_anchor_links = "right"
 +++

content/drone-stuff/transportable-c1-chaser.md

@@ -1,6 +1,6 @@
 +++
 title = "Transportable C1 Chaser"
-weight = 14
+weight = 15
 sort_by = "weight"
 insert_anchor_links = "right"
 +++

joplinexport.py

@@ -91,9 +91,11 @@ class JoplinExporter:
                 new_url = self.get_resource_url_by_id(item_id)
                 if not new_url:
                     new_url = item_id
+            if match.group(2):
+                new_url += match.group(2)
             return f"](../../{new_url})"
 
-        return re.sub(r"\]\(:/([a-f0-9]{32})\)", replacement, note.body)
+        return re.sub(r"\]\(:/([a-f0-9]{32})(#.*?)?\)", replacement, note.body)
 
     def get_note_url_by_id(self, note_id: str) -> Optional[str]:
         """Return a note's relative URL by its ID."""