Updates
This commit is contained in:
Stavros Korokithakis
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e1f4ebd19e
@ -10,4 +10,7 @@ Click on a link in the list below to go to that page:
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1. [ArduPilot setup checklist](../../ardupilot/ardupilot-setup-checklist)
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1. [Building ArduPilot](../../ardupilot/building-ardupilot)
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1. [Reverse thrust](../../ardupilot/reverse-thrust)
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1. [TECS tuning calculator](../../ardupilot/tecs-tuning-calculator)
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1. [Transfer config between craft](../../ardupilot/transfer-config-between-craft)
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1. [Tuning the TECS](../../ardupilot/tuning-the-tecs)
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@ -105,119 +105,6 @@ The values in this section are specific to the Omnibus F4, but the settings aren
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- [ ] Run an autotune.
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- [ ] 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).
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## Tuning the TECS
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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).
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Make sure you have run an autotune beforehand, and continue with the tuning below.
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In tuning, there are three stages:
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- Prepare to measure
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- Take measurements in the field.
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- Set parameters on the bench, based on your measurements.
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### Preparation
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- [ ] Set `LIM_PITCH_MAX=4500` (centidegrees), or something similarly high.
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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.
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- [ ] Set `LIM_PITCH_MIN=-4500` (centidegrees) or something similarly low.
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This is the minimum pitch you'll be achieving in FBWA, and you don't want to be limited by this either.
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### In the field
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You should perform the measurements in four stages, all in the FBWA mode:
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#### Fly straight
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Fly straight and note down:
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- [ ] The maximum speed you want to be flying at (in km/h).
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- [ ] The throttle percentage at that maximum speed.
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- [ ] Start a turn at the maximum bank angle (full roll deflection to one side) and note the slowest speed you can fly at without stalling.
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- [ ] Fly straight at a speed 15% higher than the stall speed from the previous step, and note that speed. This is your trim speed.
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- [ ] Note the throttle percentage at that speed.
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- [ ] Turn throttle to 0 and pitch down a bit so you don't stall.
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Note the minimum amount of down-pitch required to keep you from stalling (this should only be in the 1-3 degree ballpark).
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#### Fly up
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Set the throttle to the maximum throttle percentage from the previous step and start slowly pitching up until your airspeed equals your trim speed from the previous step.
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If you're higher than that speed and need to climb more, change `LIM_PITCH_MAX` to something higher and try again.
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Note down:
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- [ ] The pitch angle (in degrees).
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- [ ] The vertical speed from the variometer (in m/s).
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#### Fly down
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Set the throttle to 0 and start pitching down until your airspeed equals your trim speed from the previous step.
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Note down:
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- [ ] The vertical speed from the variometer (in m/s).
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#### Fly down more
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Keep the throttle at 0 and pitch down until you reach your desired maximum speed from step 1.
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If you're lower than that speed and need to pitch down more, change `LIM_PITCH_MIN` to something lower and try again.
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Note down:
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- [ ] The pitch angle (in degrees).
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- [ ] The vertical speed from the variometer (in m/s).
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You're done with this step.
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### On the bench
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After you have the above measurements, you're ready to tune things. You can use the automatic calculator:
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### [TECS tuning calculator](../../ardupilot/tecs-tuning-calculator)
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Otherwise, you can do things manually, following the steps below, but you should really use the calculator instead.
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For the level flight measurements:
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- [ ] Set `ARSPD_FBW_MAX` (m/s) to something a bit less than the maximum airspeed you achieved in level flight.
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- [ ] Set `THR_MAX` (percentage) to the throttle percentage at max speed.
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- [ ] Set `ARSPD_FBW_MIN` (m/s) to the slowest speed you could turn at without stalling (maybe go a bit higher for some margin).
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- [ ] Set `TRIM_ARSPD_CM` (cm/s) to your trim speed.
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- [ ] Set `TRIM_THROTTLE` (percentage) to your trim throttle percentage.
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- [ ] Set `STAB_PITCH_DOWN` (degrees) to the pitch angle that keeps you from stalling.
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For the ascent measurements:
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- [ ] Set `TECS_PITCH_MAX` (degrees) to the pitch angle you measured.
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- [ ] Set `TECS_CLMB_MAX` and `FBWB_CLIMB_RATE` (both in m/s) to the climb rate you measured.
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For the descent measurements:
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- [ ] Set `TECS_SINK_MIN` (m/s) to the descent rate you measured.
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For the max descent measurements:
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- [ ] Set `TECS_PITCH_MIN` (degrees) to the pitch angle you measured.
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- [ ] Set `TECS_SINK_MAX` (m/s) to the descent rate you measured.
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That's it!
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## Reverse thrust
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To set up reverse thrust (for higher braking when landing, for example), follow the steps below:
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- [ ] Set your BLHeli-compatible ESC to "Reversible soft" and make sure you're using DShot.
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- [ ] Set `THR_MIN=-100`.
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- [ ] Set `SERVO_BLH_REMASK=1` (or whatever channel your motor is on).
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- [ ] Set `RC9_OPTION=64` for the reversing switch on channel 9 (or whatever channel you want).
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- [ ] Set `USE_REV_THRUST=0` to disable reverse thrust on all auto modes.
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You're done.
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When flipping the switch, throttle will reverse, so your plane will slow down instead of speed up the more you throttle up.
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Be careful not to stall or otherwise hurt your craft, I don't recommend going over 20-30% reverse throttle.
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## Parachute parameters
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This is the regex I use with Parachute to transfer between planes only the parameters that are transferrable (ie non-plane-specific):
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`^(ACRO_LOCKING|OSD.*|RC[\d_]+.*|FLTMODE.*|FLIGHT_OPTIONS|FS_.*|RTL_CLIMB_MIN|RTL_RADIUS|THR_PASS_STAB|THR_SLEWRATE|THR_SUPP_MAN|TKOFF_ACCEL_CNT|TKOFF_ALT|TKOFF_DIST|TKOFF_THR_DELAY|HOME_RESET_ALT|ALT_HOLD_RTL)$`
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This will transfer things like the OSD settings, flight modes, failsafe options, etc etc, but will leave things like PID tuning alone.
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Use it to set up a new plane by copying over settings from an older plane.
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_(Many thanks to Michel Pastor for his help with everything in this note.)_
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* * *
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25
content/ardupilot/reverse-thrust.md
Normal file
25
content/ardupilot/reverse-thrust.md
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@ -0,0 +1,25 @@
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+++
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title = "Reverse thrust"
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weight = 3
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sort_by = "weight"
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insert_anchor_links = "right"
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+++
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To set up reverse thrust (for higher braking when landing, for example), follow the steps below:
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- [ ] Set your BLHeli-compatible ESC to "Reversible soft" and make sure you're using DShot.
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- [ ] Set `THR_MIN=-100`.
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- [ ] Set `SERVO_BLH_REMASK=1` (or whatever channel your motor is on).
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- [ ] Set `RC9_OPTION=64` for the reversing switch on channel 9 (or whatever channel you want).
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- [ ] Set `USE_REV_THRUST=0` to disable reverse thrust on all auto modes.
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You're done.
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When flipping the switch, throttle will reverse, so your plane will slow down instead of speed up the more you throttle up.
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Be careful not to stall or otherwise hurt your craft, I don't recommend going over 20-30% reverse throttle.
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* * *
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<p style="font-size:80%; font-style: italic">
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Last updated on September 07, 2021. For any questions/feedback,
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email me at <a href="mailto:hi@stavros.io">hi@stavros.io</a>.
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</p>
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@ -1,6 +1,6 @@
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+++
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title = "TECS tuning calculator"
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weight = 3
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weight = 4
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sort_by = "weight"
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insert_anchor_links = "right"
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+++
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19
content/ardupilot/transfer-config-between-craft.md
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19
content/ardupilot/transfer-config-between-craft.md
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@ -0,0 +1,19 @@
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+++
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title = "Transfer config between craft"
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weight = 5
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sort_by = "weight"
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insert_anchor_links = "right"
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+++
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This is the regex I use with Parachute to transfer between planes only the parameters that are transferrable (ie non-plane-specific):
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`^(ACRO_LOCKING|OSD.*|RC[\d_]+.*|FLTMODE.*|FLIGHT_OPTIONS|FS_.*|RTL_CLIMB_MIN|RTL_RADIUS|THR_PASS_STAB|THR_SLEWRATE|THR_SUPP_MAN|TKOFF_ACCEL_CNT|TKOFF_ALT|TKOFF_DIST|TKOFF_THR_DELAY|HOME_RESET_ALT|ALT_HOLD_RTL)$`
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This will transfer things like the OSD settings, flight modes, failsafe options, etc etc, but will leave things like PID tuning alone.
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Use it to set up a new plane by copying over settings from an older plane.
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* * *
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<p style="font-size:80%; font-style: italic">
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Last updated on September 07, 2021. For any questions/feedback,
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email me at <a href="mailto:hi@stavros.io">hi@stavros.io</a>.
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</p>
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100
content/ardupilot/tuning-the-tecs.md
Normal file
100
content/ardupilot/tuning-the-tecs.md
Normal file
@ -0,0 +1,100 @@
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+++
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title = "Tuning the TECS"
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weight = 6
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sort_by = "weight"
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insert_anchor_links = "right"
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+++
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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).
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Make sure you have run an autotune beforehand, and continue with the tuning below.
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In tuning, there are three stages:
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- Prepare to measure
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- Take measurements in the field.
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- Set parameters on the bench, based on your measurements.
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|
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### Preparation
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- [ ] Set `LIM_PITCH_MAX=4500` (centidegrees), or something similarly high.
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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.
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- [ ] Set `LIM_PITCH_MIN=-4500` (centidegrees) or something similarly low.
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This is the minimum pitch you'll be achieving in FBWA, and you don't want to be limited by this either.
|
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|
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|
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### In the field
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You should perform the measurements in four stages, all in the FBWA mode:
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#### Fly straight
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Fly straight and note down:
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- [ ] The maximum speed you want to be flying at (in km/h).
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- [ ] The throttle percentage at that maximum speed.
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- [ ] Start a turn at the maximum bank angle (full roll deflection to one side) and note the slowest speed you can fly at without stalling.
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- [ ] Fly straight at a speed 15% higher than the stall speed from the previous step, and note that speed. This is your trim speed.
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- [ ] Note the throttle percentage at that speed.
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- [ ] Turn throttle to 0 and pitch down a bit so you don't stall.
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Note the minimum amount of down-pitch required to keep you from stalling (this should only be in the 1-3 degree ballpark).
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#### Fly up
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Set the throttle to the maximum throttle percentage from the previous step and start slowly pitching up until your airspeed equals your trim speed from the previous step.
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If you're higher than that speed and need to climb more, change `LIM_PITCH_MAX` to something higher and try again.
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Note down:
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- [ ] The pitch angle (in degrees).
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- [ ] The vertical speed from the variometer (in m/s).
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#### Fly down
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Set the throttle to 0 and start pitching down until your airspeed equals your trim speed from the previous step.
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Note down:
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- [ ] The vertical speed from the variometer (in m/s).
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#### Fly down more
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Keep the throttle at 0 and pitch down until you reach your desired maximum speed from step 1.
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If you're lower than that speed and need to pitch down more, change `LIM_PITCH_MIN` to something lower and try again.
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Note down:
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- [ ] The pitch angle (in degrees).
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- [ ] The vertical speed from the variometer (in m/s).
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You're done with this step.
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### On the bench
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After you have the above measurements, you're ready to tune things. You can use the automatic calculator:
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### [TECS tuning calculator](../../ardupilot/tecs-tuning-calculator)
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Otherwise, you can do things manually, following the steps below, but you should really use the calculator instead.
|
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For the level flight measurements:
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- [ ] Set `ARSPD_FBW_MAX` (m/s) to something a bit less than the maximum airspeed you achieved in level flight.
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- [ ] Set `THR_MAX` (percentage) to the throttle percentage at max speed.
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- [ ] Set `ARSPD_FBW_MIN` (m/s) to the slowest speed you could turn at without stalling (maybe go a bit higher for some margin).
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- [ ] Set `TRIM_ARSPD_CM` (cm/s) to your trim speed.
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- [ ] Set `TRIM_THROTTLE` (percentage) to your trim throttle percentage.
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- [ ] Set `STAB_PITCH_DOWN` (degrees) to the pitch angle that keeps you from stalling.
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For the ascent measurements:
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- [ ] Set `TECS_PITCH_MAX` (degrees) to the pitch angle you measured.
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- [ ] Set `TECS_CLMB_MAX` and `FBWB_CLIMB_RATE` (both in m/s) to the climb rate you measured.
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For the descent measurements:
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- [ ] Set `TECS_SINK_MIN` (m/s) to the descent rate you measured.
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For the max descent measurements:
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- [ ] Set `TECS_PITCH_MIN` (degrees) to the pitch angle you measured.
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- [ ] Set `TECS_SINK_MAX` (m/s) to the descent rate you measured.
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That's it!
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* * *
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<p style="font-size:80%; font-style: italic">
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Last updated on September 07, 2021. For any questions/feedback,
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email me at <a href="mailto:hi@stavros.io">hi@stavros.io</a>.
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</p>
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