VTOL TECS not respecting disabled synthetic airspeed

ArduPlane VTOL Plane
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1

Hi all,

I’m trying to fly a Heewing T2 Cruza tricopter tiltrotor VTOL without an airspeed sensor. I have an airspeed sensor plugged in, but ARSPD_USE = 0. I also have TECS_SYNAIRSPD = 0.
My understanding with this configuration, is that it should cruise in LOITER mode or FBW-B centre-stick at TRIM_THROTTLE.

However, it is doing some sort of synthetic airspeed estimation and changing the throttle during flight.
Why is that? I just want it to hold 70% throttle for the entire flight.

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2

That looks suspicious can you check pitch corelation? IIRC ardupilot has pitch to throttle feedforward.

3

Yes, good thinking!
Turns out it was a combination of bank/throttle linkage TECS_RLL2THR, and the altitude error / throttle linkage in the TECS controller, since TECS_SPDWEIGHT = 1.
Thanks!