Updates

content/ardupilot/_index.md

@@ -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)

content/ardupilot/ardupilot-setup-checklist.md

@@ -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.)_
 
 * * *

content/ardupilot/reverse-thrust.md

@@ -0,0 +1,25 @@
++++
+title = "Reverse thrust"
+weight = 3
+sort_by = "weight"
+insert_anchor_links = "right"
++++
+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>

content/ardupilot/tecs-tuning-calculator.md

@@ -1,6 +1,6 @@
 +++
 title = "TECS tuning calculator"
-weight = 3
+weight = 4
 sort_by = "weight"
 insert_anchor_links = "right"
 +++

content/ardupilot/transfer-config-between-craft.md

@@ -0,0 +1,19 @@
++++
+title = "Transfer config between craft"
+weight = 5
+sort_by = "weight"
+insert_anchor_links = "right"
++++
+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>

content/ardupilot/tuning-the-tecs.md

@@ -0,0 +1,100 @@
++++
+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>