Plane: Autotune for TECS

magicrub commented 7 years ago

Autotune for TECS, perhaps a new autotune mode called TECSTUNE? Discuss

magicrub commented 7 years ago

Primary params that need to be tuned: TECS_CLMB_MAX TECS_SINK_MIN TECS_SINK_MAX

if we can get those tuned then we're drastically improving the flight envelope. Everything else is fine tuning.

jinchengde commented 7 years ago

do you have any theory for this autotune? interesting！

magicrub commented 7 years ago

not yet, I just made this issue so we wouldn't forget to do it someday. It's definitely in demand.

palm369 commented 7 years ago

This should be all calculated automatically under certain conditions, then printed in MP as msg. Results = (alt2 - alt1) / ( T2- T1)

State1 (alt1, T1) = start of fulfilling conditions State2 (alt2, T2) = fulfilling for given time or altitude

Subroutine could be enabled via a new TECS_TUNE_MSG parameter, so one can disable it to dont spam the msg tab in MP.

This could be the conditions to fulfill:

TECS_CLMB_MAX

climbing in FBWA for 10s using THR_MAX while pulling full elevator maintaining FBW_MIN (or Cruise) (Correction for batt voltage to compensate for different charging states?)

TECS_SINK_MIN

Sinking in FBWA with no throttle while maintaining FBW_MIN for 10s (whats about thermals?)

TECS_SINK_MAX

flying in FBWA with no throttle and pushing full elevator for 100m altitude (Not every airframe can overspeed, eg foamies usually cant do it due to low weight/drag ratio)

EShamaev commented 2 years ago

Tom, are you currently working on this feature? I plan to implement it, but if you are on the way then no need to do double job.

ArduPilot / ardupilot