A friend of mine and me are just trying to parameterize AP for a motorless glider. The goal is not automatic thermaling, but if you lose LOS in MANUAL MODE or FBWA, you should be able to come back in RTL (as long as the glide path is sufficient ) .
In doing so, we were hoping with TECS_SPDWEIGT,2 TECS_OPTIONS,1 ARSPD_FBW_MIN,9 ARSPD_FBW_MAX,22 TRIM_ARSPD_CM,900 and THROTTLE_NUDGE,0 , that the glider would try to fly at 9 m/s in autothrottle modes and naturally sink only a little bit.
But unfortunately TECS tries to reach ARSPD_FBW_MAX immediately after switching to FBW-B and of course loses massive altitude. Here is a graphic from the logfile (with a shot FBWB Part) :
TECS tries to reach the maximum TAS instead of flying at 9 m/s as desired.
There is no airspeed sensor installed, Arduplane version is 4.1.0 beta 7.
Logfile of a flight and parameter file: MagentaCLOUD
It would be great if someone could tell us what we parameterize wrong.
Or is it necessary to activate SOARING and try to adjust the SOARING parameters for a glider without motor ?