91 lines
3.6 KiB
Markdown
91 lines
3.6 KiB
Markdown
+++
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title = "TECS tuning calculator"
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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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To use this calculator, first follow the steps in the [TECS tuning section](../../ardupilot/ardupilot-setup-checklist#tuning-the-tecs) of the ArduPilot setup checklist.
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<script>
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function kmhToMs(kmh) { return Math.round(kmh / 3.6); }
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function kmhToCms(kmh) { return Math.round(kmh / 0.036); }
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function calculateParameters(event) {
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var maxSpeed = Number(document.getElementById("maxSpeed").value);
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var maxThrottle = Number(document.getElementById("maxThrottle").value);
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var stallSpeed = Number(document.getElementById("stallSpeed").value);
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var trimSpeed = Number(document.getElementById("trimSpeed").value);
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var trimThrottle = Number(document.getElementById("trimThrottle").value);
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var downPitch = Number(document.getElementById("downPitch").value);
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var upPitch = Number(document.getElementById("upPitch").value);
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var upSpeed = Number(document.getElementById("upSpeed").value);
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var downSpeed = Number(document.getElementById("downSpeed").value);
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var downMorePitch = Number(document.getElementById("downMorePitch").value);
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var downMoreSpeed = Number(document.getElementById("downMoreSpeed").value);
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var output = document.getElementById("parachuteCommand");
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output.textContent = ("parachute set"
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+ " \\\n TRIM_ARSPD_CM=" + kmhToCms(trimSpeed)
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+ " \\\n TRIM_THROTTLE=" + trimThrottle
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+ " \\\n THR_MAX=" + maxThrottle
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+ " \\\n ARSPD_FBW_MAX=" + kmhToMs(maxSpeed * 0.95)
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+ " \\\n ARSPD_FBW_MIN=" + kmhToMs(stallSpeed * 1.05)
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+ " \\\n STAB_PITCH_DOWN=" + downPitch
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+ " \\\n TECS_PITCH_MIN=-" + downMorePitch
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+ " \\\n TECS_PITCH_MAX=" + upPitch
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+ " \\\n TECS_CLMB_MAX=" + upSpeed
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+ " \\\n TECS_SINK_MIN=" + downSpeed
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+ " \\\n TECS_SINK_MAX=" + downMoreSpeed
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+ " \\\n FBWB_CLIMB_RATE=" + upSpeed
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);
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}
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</script>
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<form onsubmit="calculateParameters(event); return false">
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<h2>Fly straight</h2>
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<p><label>Maximum speed (km/h): <input type="number" min="0" id="maxSpeed" /></label></p>
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<p><label>Maximum throttle (%): <input type="number" min="0" max="100" id="maxThrottle" /></label></p>
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<p><label>Slowest speed (km/h): <input type="number" min="0" id="stallSpeed" /></label></p>
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<p><label>Trim speed (km/h): <input type="number" min="0" id="trimSpeed" /></label></p>
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<p><label>Trim throttle percentage (%): <input type="number" min="0" max="100" id="trimThrottle" /></label></p>
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<p><label>Down pitch (deg): <input type="number" min="0" max="90" id="downPitch" /></label></p>
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<h2>Fly up</h2>
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<p><label>Up pitch (deg): <input type="number" min="0" max="90" id="upPitch" /></label></p>
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<p><label>Up speed (m/s): <input type="number" min="0" id="upSpeed" /></label></p>
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<h2>Fly down</h2>
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<p><label>Down speed (m/s): <input type="number" min="0" id="downSpeed" /></label></p>
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<h2>Fly down more</h2>
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<p><label>Down more pitch (deg): <input type="number" min="0" max="90" id="downMorePitch" /></label></p>
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<p><label>Down more speed (m/s): <input type="number" min="0" id="downMoreSpeed" /></label></p>
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<p>
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<button type="submit">Calculate parameters</button>
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</p>
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---
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<p>
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Run this command in a terminal, making sure you have <a href="https://gitlab.com/stavros/parachute">Parachute</a> installed:
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<code>
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<pre id="parachuteCommand">
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(Please fill out the values above first)
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</pre>
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</code>
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</p>
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</form>
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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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