I am configuring an ASW 28 motor glider with FC Matek H743 Wing V3 with Ardupilot 4.5.2. How can I increase the authority of the control surfaces (increase the travel) in FBWA mode, specifically the ailerons?
Thanks
Walter
On the ground, the deflection of the airlerons in FBWA is not decisive, but the maximum deflection is set in manual mode.
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I don’t think I understood and maybe I didn’t explain the problem well. If I perform a left turn in “Manual” mode with a bank angle of, say, 30° I move the stick by, say, a quarter of the maximum travel; if I perform the same turn in “FBWA” mode I have to move the stick almost to the end of its travel. Is it possible to make the stick travel the same in both flight modes? Thanks
Walter
You are comparing apples to oranges. Flight controller behaves differently on the ground than in the air.
Unless you set very small deflections (which is a wrong way) you shouldn’t reach maximum deflections in flight as saturation messes with controllers. I would expect maximum deflections happening only briefy in situations other than for example unusual attitude recovery.
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Do the AUTOTUNE setup procedure correctly, you will get PID parameters that will speed up the response to aircraft control.
• If you are starting with the default parameters for roll and pitch you may find the plane is quite sluggish when you first enter AUTOTUNE. You will find that as the tune progresses this will get better. Make sure your flight area has plenty of room for long slow turns.
The key to a successful Autotune is to input rapid roll or pitch movements with the transmitter sticks. It is best only do one axis at a time, although tuning is occurring simultaneously on all axes being tuned, so tuning messages may be interleaved occasionally.
So rapid stick movements with short pauses at each deflection is used for each axis in turn until the tuning finished message is reported on GCS or OSD. Automatic Tuning with AUTOTUNE — Plane documentation
Try play with MIXING_GAIN to see if there any changes.
Thanks, now I understand. Since it is a 2.5m wingspan and MTOM glider of 1050g, what values ​​of “autotune_level”, “airspeed_min” and “scaling_speed” are advisable? Sorry for the trivial questions, but I am a beginner with both gliders and Ardupilot.
Thanks
Walter
After testing, I got the parameters for an example
AUTOTUNE_LEVEL,5
ARSPD_FBW_MAX,25
ARSPD_FBW_MIN,12
TRIM_ARSPD_CM,1600
SCALING_SPEED,18
RLL_RATE_D,0.0164466
RLL_RATE_FF,0.4467663
RLL_RATE_FLTD,10
RLL_RATE_FLTE,0
RLL_RATE_FLTT,2.652582
RLL_RATE_I,0.4467663
RLL_RATE_IMAX,0.666
RLL_RATE_P,0.1928261
RLL_RATE_SMAX,150
RLL2SRV_RMAX,60
RLL2SRV_TCONST,0.6
PTCH_RATE_D,0.007485934
PTCH_RATE_FF,0.3083471
PTCH_RATE_FLTD,10
PTCH_RATE_FLTE,0
PTCH_RATE_FLTT,1.768388
PTCH_RATE_I,0.3083471
PTCH_RATE_IMAX,0.666
PTCH_RATE_P,0.163027
PTCH_RATE_SMAX,150
PTCH2SRV_RLL,1
PTCH2SRV_RMAX_DN,60
PTCH2SRV_RMAX_UP,60
PTCH2SRV_TCONST,0.9
F3B MATEK765WING ARDUPILOT - YouTube
Good afternoon,
I performed the autotune as you suggested. The model now flies very well. Do you recommend performing the autotune on the yaw axis as well?
Thanks
I am very glad that my advice helped you set up the correct flight of the glider. However, I do not recommend adjusting the PID parameter to the yaw axis. This setting is suitable for the aerobatic mode for the aircraft Automatic Tuning with AUTOTUNE — Plane documentation . For the glider, I only use a mixer KFF_RDDMIX 0.3
Everything I use to set up my planes is included in the ARDUPILOT developer documentation.