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Stavros Korokithakis
2021-09-07 15:13:28 +03:00
parent 9cd0048686
commit e1f4ebd19e
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content/ardupilot/_index.md
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@@ -10,4 +10,7 @@ Click on a link in the list below to go to that page:
1. [ArduPilot setup checklist](../../ardupilot/ardupilot-setup-checklist)
1. [Building ArduPilot](../../ardupilot/building-ardupilot)
1. [Reverse thrust](../../ardupilot/reverse-thrust)
1. [TECS tuning calculator](../../ardupilot/tecs-tuning-calculator)
1. [Transfer config between craft](../../ardupilot/transfer-config-between-craft)
1. [Tuning the TECS](../../ardupilot/tuning-the-tecs)

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content/ardupilot/ardupilot-setup-checklist.md
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@@ -105,119 +105,6 @@ The values in this section are specific to the Omnibus F4, but the settings aren
- [ ] 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).
## Tuning the TECS
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.
In tuning, there are three stages:
- Prepare to measure
- Take measurements in the field.
- 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
You should perform the measurements in four stages, all in the FBWA mode:
#### Fly straight
Fly straight and note down:
- [ ] The maximum speed you want to be flying at (in km/h).
- [ ] The throttle percentage at that maximum speed.
- [ ] 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.
- [ ] Fly straight at a speed 15% higher than the stall speed from the previous step, and note that speed. This is your trim speed.
- [ ] Note the throttle percentage at that speed.
- [ ] Turn throttle to 0 and pitch down a bit so you don't stall.
Note the minimum amount of down-pitch required to keep you from stalling (this should only be in the 1-3 degree ballpark).
#### Fly up
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.
If you're higher than that speed and need to climb more, change `LIM_PITCH_MAX` to something higher and try again.
Note down:
- [ ] The pitch angle (in degrees).
- [ ] The vertical speed from the variometer (in m/s).
#### Fly down
Set the throttle to 0 and start pitching down until your airspeed equals your trim speed from the previous step.
Note down:
- [ ] The vertical speed from the variometer (in m/s).
#### Fly down more
Keep the throttle at 0 and pitch down until you reach your desired maximum speed from step 1.
If you're lower than that speed and need to pitch down more, change `LIM_PITCH_MIN` to something lower and try again.
Note down:
- [ ] The pitch angle (in degrees).
- [ ] The vertical speed from the variometer (in m/s).
You're done with this step.
### On the bench
After you have the above measurements, you're ready to tune things. You can use the automatic calculator:
### [TECS tuning calculator](../../ardupilot/tecs-tuning-calculator)
Otherwise, you can do things manually, following the steps below, but you should really use the calculator instead.
For the level flight measurements:
- [ ] Set `ARSPD_FBW_MAX` (m/s) to something a bit less than the maximum airspeed you achieved in level flight.
- [ ] Set `THR_MAX` (percentage) to the throttle percentage at max speed.
- [ ] 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 `TRIM_ARSPD_CM` (cm/s) to your trim speed.
- [ ] Set `TRIM_THROTTLE` (percentage) to your trim throttle percentage.
- [ ] Set `STAB_PITCH_DOWN` (degrees) to the pitch angle that keeps you from stalling.
For the ascent measurements:
- [ ] Set `TECS_PITCH_MAX` (degrees) to the pitch angle you measured.
- [ ] Set `TECS_CLMB_MAX` and `FBWB_CLIMB_RATE` (both in m/s) to the climb rate you measured.
For the descent measurements:
- [ ] Set `TECS_SINK_MIN` (m/s) to the descent rate you measured.
For the max descent measurements:
- [ ] Set `TECS_PITCH_MIN` (degrees) to the pitch angle you measured.
- [ ] Set `TECS_SINK_MAX` (m/s) to the descent rate you measured.
That's it!
## Reverse thrust
To set up reverse thrust (for higher braking when landing, for example), follow the steps below:
- [ ] Set your BLHeli-compatible ESC to "Reversible soft" and make sure you're using DShot.
- [ ] Set `THR_MIN=-100`.
- [ ] Set `SERVO_BLH_REMASK=1` (or whatever channel your motor is on).
- [ ] Set `RC9_OPTION=64` for the reversing switch on channel 9 (or whatever channel you want).
- [ ] Set `USE_REV_THRUST=0` to disable reverse thrust on all auto modes.
You're done.
When flipping the switch, throttle will reverse, so your plane will slow down instead of speed up the more you throttle up.
Be careful not to stall or otherwise hurt your craft, I don't recommend going over 20-30% reverse throttle.
## Parachute parameters
This is the regex I use with Parachute to transfer between planes only the parameters that are transferrable (ie non-plane-specific):
`^(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)$`
This will transfer things like the OSD settings, flight modes, failsafe options, etc etc, but will leave things like PID tuning alone.
Use it to set up a new plane by copying over settings from an older plane.
_(Many thanks to Michel Pastor for his help with everything in this note.)_
* * *

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title = "Reverse thrust"
weight = 3
sort_by = "weight"
insert_anchor_links = "right"
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To set up reverse thrust (for higher braking when landing, for example), follow the steps below:
- [ ] Set your BLHeli-compatible ESC to "Reversible soft" and make sure you're using DShot.
- [ ] Set `THR_MIN=-100`.
- [ ] Set `SERVO_BLH_REMASK=1` (or whatever channel your motor is on).
- [ ] Set `RC9_OPTION=64` for the reversing switch on channel 9 (or whatever channel you want).
- [ ] Set `USE_REV_THRUST=0` to disable reverse thrust on all auto modes.
You're done.
When flipping the switch, throttle will reverse, so your plane will slow down instead of speed up the more you throttle up.
Be careful not to stall or otherwise hurt your craft, I don't recommend going over 20-30% reverse throttle.
* * *
<p style="font-size:80%; font-style: italic">
Last updated on September 07, 2021. For any questions/feedback,
email me at <a href="mailto:hi@stavros.io">hi@stavros.io</a>.
</p>

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content/ardupilot/tecs-tuning-calculator.md
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title = "TECS tuning calculator"
weight = 3
weight = 4
sort_by = "weight"
insert_anchor_links = "right"
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title = "Transfer config between craft"
weight = 5
sort_by = "weight"
insert_anchor_links = "right"
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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):
`^(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)$`
This will transfer things like the OSD settings, flight modes, failsafe options, etc etc, but will leave things like PID tuning alone.
Use it to set up a new plane by copying over settings from an older plane.
* * *
<p style="font-size:80%; font-style: italic">
Last updated on September 07, 2021. For any questions/feedback,
email me at <a href="mailto:hi@stavros.io">hi@stavros.io</a>.
</p>

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title = "Tuning the TECS"
weight = 6
sort_by = "weight"
insert_anchor_links = "right"
+++
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.
In tuning, there are three stages:
- Prepare to measure
- Take measurements in the field.
- 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
You should perform the measurements in four stages, all in the FBWA mode:
#### Fly straight
Fly straight and note down:
- [ ] The maximum speed you want to be flying at (in km/h).
- [ ] The throttle percentage at that maximum speed.
- [ ] 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.
- [ ] Fly straight at a speed 15% higher than the stall speed from the previous step, and note that speed. This is your trim speed.
- [ ] Note the throttle percentage at that speed.
- [ ] Turn throttle to 0 and pitch down a bit so you don't stall.
Note the minimum amount of down-pitch required to keep you from stalling (this should only be in the 1-3 degree ballpark).
#### Fly up
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.
If you're higher than that speed and need to climb more, change `LIM_PITCH_MAX` to something higher and try again.
Note down:
- [ ] The pitch angle (in degrees).
- [ ] The vertical speed from the variometer (in m/s).
#### Fly down
Set the throttle to 0 and start pitching down until your airspeed equals your trim speed from the previous step.
Note down:
- [ ] The vertical speed from the variometer (in m/s).
#### Fly down more
Keep the throttle at 0 and pitch down until you reach your desired maximum speed from step 1.
If you're lower than that speed and need to pitch down more, change `LIM_PITCH_MIN` to something lower and try again.
Note down:
- [ ] The pitch angle (in degrees).
- [ ] The vertical speed from the variometer (in m/s).
You're done with this step.
### On the bench
After you have the above measurements, you're ready to tune things. You can use the automatic calculator:
### [TECS tuning calculator](../../ardupilot/tecs-tuning-calculator)
Otherwise, you can do things manually, following the steps below, but you should really use the calculator instead.
For the level flight measurements:
- [ ] Set `ARSPD_FBW_MAX` (m/s) to something a bit less than the maximum airspeed you achieved in level flight.
- [ ] Set `THR_MAX` (percentage) to the throttle percentage at max speed.
- [ ] 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 `TRIM_ARSPD_CM` (cm/s) to your trim speed.
- [ ] Set `TRIM_THROTTLE` (percentage) to your trim throttle percentage.
- [ ] Set `STAB_PITCH_DOWN` (degrees) to the pitch angle that keeps you from stalling.
For the ascent measurements:
- [ ] Set `TECS_PITCH_MAX` (degrees) to the pitch angle you measured.
- [ ] Set `TECS_CLMB_MAX` and `FBWB_CLIMB_RATE` (both in m/s) to the climb rate you measured.
For the descent measurements:
- [ ] Set `TECS_SINK_MIN` (m/s) to the descent rate you measured.
For the max descent measurements:
- [ ] Set `TECS_PITCH_MIN` (degrees) to the pitch angle you measured.
- [ ] Set `TECS_SINK_MAX` (m/s) to the descent rate you measured.
That's it!
* * *
<p style="font-size:80%; font-style: italic">
Last updated on September 07, 2021. For any questions/feedback,
email me at <a href="mailto:hi@stavros.io">hi@stavros.io</a>.
</p>