Block diagram for TECS controler

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1

Hello!

I’m playing with TECS controller right now and found fine tuning to be difficult. Main reason for it is lack of documentation for this control loop. I’m wondering if someone here could post block diagram as it was done for roll pitch and yaw controllers (see plane.ardupilot.com/wiki/roll-pi … er-tuning/ ), or just tell me in which part of code it was implemented.

Thanks in advance,
Kamil

2

Did you manage to find any documentation?

3

Did you have a look here?

plane.ardupilot.com/wiki/tecs-to … ing-guide/

4

Thanks. I have a question though. How much usually the throttle slew rate should be?