diff --git a/content/ardupilot/ardupilot-setup-checklist.md b/content/ardupilot/ardupilot-setup-checklist.md index 0afdd83..1a83e07 100644 --- a/content/ardupilot/ardupilot-setup-checklist.md +++ b/content/ardupilot/ardupilot-setup-checklist.md @@ -104,6 +104,7 @@ See the [recommended settings](/ardupilot/ardupilot-recommended-settings.html) p ## In the field - [ ] Run an autotune. - [ ] Fly in FBWA and see if you're gaining/losing altitude. Pitch up/down to fly level, check the pitch on the OSD, and use the formula `old_value+pitch*π/180` to get the new value for `AHRS_TRIM_Y` (in radians). +- [ ] After you set `AHRS_TRIM_Y` correctly above, fly in FBWA at full throttle (or whatever throttle you feel is "full" enough, and note that value), and note the pitch you need so that the wing doesn't climb or sink. Then, set `KFF_THR2PITCH` with the formula `pitch_value_in_deg * 100 / throttle_percentage`. `pitch_value_in_deg` should be positive if you needed up pitch and negative if you needed down pitch. _(Many thanks to Michel Pastor for his help with everything in this note.)_ diff --git a/content/ardupilot/tuning-the-tecs.md b/content/ardupilot/tuning-the-tecs.md index 0d7dff5..b391c0f 100644 --- a/content/ardupilot/tuning-the-tecs.md +++ b/content/ardupilot/tuning-the-tecs.md @@ -102,6 +102,6 @@ This is some more advanced information on tuning the TECS: * * *

-Last updated on December 18, 2021. For any questions/feedback, +Last updated on January 18, 2022. For any questions/feedback, email me at hi@stavros.io.