| Name
| Description
| Min > Max (Incr. )
| Default
| Units
|
| FW_AIRSPD_MAX (FLOAT)
| Maximum Airspeed
Comment: If the airspeed is above this value, the TECS controller will try to decrease airspeed more aggressively.
| 0. 0 > 40 (0. 5)
| 20. 0
| m/s
|
| FW_AIRSPD_MIN (FLOAT)
| Minimum Airspeed
Comment: If the airspeed falls below this value, the TECS controller will try to increase airspeed more aggressively.
| 0. 0 > 40 (0. 5)
| 10. 0
| m/s
|
| FW_AIRSPD_TRIM (FLOAT)
| Cruise Airspeed
Comment: The fixed wing controller tries to fly at this airspeed.
| 0. 0 > 40 (0. 5)
| 15. 0
| m/s
|
| FW_T_CLMB_MAX (FLOAT)
| Maximum climb rate
Comment: This is the best climb rate that the aircraft can achieve with the throttle set to THR_MAX and the airspeed set to the default value. For electric aircraft make sure this number can be achieved towards the end of flight when the battery voltage has reduced. The setting of this parameter can be checked by commanding a positive altitude change of 100m in loiter, RTL or guided mode. If the throttle required to climb is close to THR_MAX and the aircraft is maintaining airspeed, then this parameter is set correctly. If the airspeed starts to reduce, then the parameter is set to high, and if the throttle demand required to climb and maintain speed is noticeably less than FW_THR_MAX, then either FW_T_CLMB_MAX should be increased or FW_THR_MAX reduced.
| 1. 0 > 15. 0 (0. 5)
| 5. 0
| m/s
|
| FW_T_HGT_OMEGA (FLOAT)
| Complementary filter " omega" parameter for height
Comment: This is the cross-over frequency (in radians/second) of the complementary filter used to fuse vertical acceleration and barometric height to obtain an estimate of height rate and height. Increasing this frequency weights the solution more towards use of the barometer, whilst reducing it weights the solution more towards use of the accelerometer data.
| 1. 0 > 10. 0 (0. 5)
| 3. 0
| rad/s
|
| FW_T_HRATE_FF (FLOAT)
| Height rate feed forward
| 0. 0 > 1. 0 (0. 05)
| 0. 8
|
|
| FW_T_HRATE_P (FLOAT)
| Height rate proportional factor
| 0. 0 > 1. 0 (0. 05)
| 0. 05
|
|
| FW_T_INTEG_GAIN (FLOAT)
| Integrator gain
Comment: This is the integrator gain on the control loop. Increasing this gain increases the speed at which speed and height offsets are trimmed out, but reduces damping and increases overshoot. Set this value to zero to completely disable all integrator action.
| 0. 0 > 2. 0 (0. 05)
| 0. 1
|
|
| FW_T_PTCH_DAMP (FLOAT)
| Pitch damping factor
Comment: This is the damping gain for the pitch demand loop. Increase to add damping to correct for oscillations in height. The default value of 0. 0 will work well provided the pitch to servo controller has been tuned properly.
| 0. 0 > 2. 0 (0. 1)
| 0. 0
|
|
| FW_T_RLL2THR (FLOAT)
| Roll -> Throttle feedforward
Comment: Increasing this gain turn increases the amount of throttle that will be used to compensate for the additional drag created by turning. Ideally this should be set to approximately 10 x the extra sink rate in m/s created by a 45 degree bank turn. Increase this gain if the aircraft initially loses energy in turns and reduce if the aircraft initially gains energy in turns. Efficient high aspect-ratio aircraft (eg powered sailplanes) can use a lower value, whereas inefficient low aspect-ratio models (eg delta wings) can use a higher value.
| 0. 0 > 20. 0 (0. 5)
| 15. 0
|
|
| FW_T_SINK_MAX (FLOAT)
| Maximum descent rate
Comment: This sets the maximum descent rate that the controller will use. If this value is too large, the aircraft can over-speed on descent. This should be set to a value that can be achieved without exceeding the lower pitch angle limit and without over-speeding the aircraft.
| 1. 0 > 15. 0 (0. 5)
| 5. 0
| m/s
|
| FW_T_SINK_MIN (FLOAT)
| Minimum descent rate
Comment: This is the sink rate of the aircraft with the throttle set to THR_MIN and flown at the same airspeed as used to measure FW_T_CLMB_MAX.
| 1. 0 > 5. 0 (0. 5)
| 2. 0
| m/s
|
| FW_T_SPDWEIGHT (FLOAT)
| Speed < --> Altitude priority
Comment: This parameter adjusts the amount of weighting that the pitch control applies to speed vs height errors. Setting it to 0. 0 will cause the pitch control to control height and ignore speed errors. This will normally improve height accuracy but give larger airspeed errors. Setting it to 2. 0 will cause the pitch control loop to control speed and ignore height errors. This will normally reduce airspeed errors, but give larger height errors. The default value of 1. 0 allows the pitch control to simultaneously control height and speed. Note to Glider Pilots - set this parameter to 2. 0 (The glider will adjust its pitch angle to maintain airspeed, ignoring changes in height).
| 0. 0 > 2. 0 (1. 0)
| 1. 0
|
|
| FW_T_SPD_OMEGA (FLOAT)
| Complementary filter " omega" parameter for speed
Comment: This is the cross-over frequency (in radians/second) of the complementary filter used to fuse longitudinal acceleration and airspeed to obtain an improved airspeed estimate. Increasing this frequency weights the solution more towards use of the airspeed sensor, whilst reducing it weights the solution more towards use of the accelerometer data.
| 1. 0 > 10. 0 (0. 5)
| 2. 0
| rad/s
|
| FW_T_SRATE_P (FLOAT)
| Speed rate P factor
| 0. 0 > 2. 0 (0. 01)
| 0. 02
|
|
| FW_T_THRO_CONST (FLOAT)
| TECS Throttle time constant
Comment: This is the time constant of the TECS throttle control algorithm (in seconds). Smaller values make it faster to respond, larger values make it slower to respond.
| 1. 0 > 10. 0 (0. 5)
| 8. 0
| s
|
| FW_T_THR_DAMP (FLOAT)
| Throttle damping factor
Comment: This is the damping gain for the throttle demand loop. Increase to add damping to correct for oscillations in speed and height.
| 0. 0 > 2. 0 (0. 1)
| 0. 5
|
|
| FW_T_TIME_CONST (FLOAT)
| TECS time constant
Comment: This is the time constant of the TECS control algorithm (in seconds). Smaller values make it faster to respond, larger values make it slower to respond.
| 1. 0 > 10. 0 (0. 5)
| 5. 0
| s
|
| FW_T_VERT_ACC (FLOAT)
| Maximum vertical acceleration
Comment: This is the maximum vertical acceleration (in m/s/s) either up or down that the controller will use to correct speed or height errors. The default value of 7 m/s/s (equivalent to +- 0. 7 g) allows for reasonably aggressive pitch changes if required to recover from under-speed conditions.
| 1. 0 > 10. 0 (0. 5)
| 7. 0
| m/s/s
|
| GND_SPEED_MAX (FLOAT)
| Maximum ground speed
| 0. 0 > 40 (0. 5)
| 10. 0
| m/s
|
| GND_SPEED_TRIM (FLOAT)
| Trim ground speed
| 0. 0 > 40 (0. 5)
| 3. 0
| m/s
|
