Thanks for the feedback on the docs @wkf94025 . I've updated the page to fix the typos and specify the log items to use.
I'm also aware that I need to give some more guidance on the drag polar parameters. I was hoping to avoid specifying the manual method of calculating / testing for these parameters as it is a bit cumbersome and time consuming.
I've been experimenting lately with a method to learn these parameters in flight that shows promise. However this is likely to take some time to fully test so for now I'll put together a better explanation.
TECS_SINK_MIN and TECS_SINK_MAX do not directly affect the soaring code. These are used by the TECS to work out achievable rates of change of height/speed so will have some bearing on the response to demanded airspeed changes. You should set them according the TECS docs.
For terrain following, the key thing to realise is that the soaring code effectively short-circuits all throttle control logic to zero the throttle when in the gliding phase, and the TECS is set up to use pitch to respond to airspeed only. This means that when in the gliding phase there will be no response to changes in demanded altitude. A nice enhancement would be to make SOAR_ALT_MIN, MAX and CUTOFF relative to local terrain height rather than home when terrain following is being used.
I have not tried to use stall prevention with soaring, but I don't anticipate any issues. Just remember that best thermalling speeds are often quite close to stall, so do not set ASPD_FBW_MIN too conservatively (too high).
@marco3dr sorry to hear you're having issues, soaring in master has only been testing in simulation so there may still be issues. Especially as operation without an airspeed sensor has not been tested. Do you have a log file?