Hi,
I'm doing some tests with the SITL simulator for ArduPlane in fly by wire B mode, and having a problem where TECS won't follow the desired climb rate.
The desired climb rate is sent on RC channel 2, with the standard RC2_MAX 2000, RC2_MIN 1000 and RC2_TRIM 1500, and with FBWB_CLIMB_RATE 2.
On RC2 I'm sending a constant value of 1345, which corresponds to a desired climb rate of 0.62 m/s.
While reviewing the log from ArduPlane I noticed that dh_dem,which is the registered climb rate in TECS, is not at the desired 0.62 but instead at 0.5m/s.
More tests show the same behavior:
* 0.94m/s desired climb rate was registered as desired 0.5 m/s in TECS
* 1.88m/s desired climb rate was registered as desired 1.5 m/s in TECS
Looking at the code is seems that desired climb-rate is actually converted to desired height, and then calculated to a desired climb-rate that TECS uses?
Is there a way to actually follow a specific climb-rate in FlyByWire B mode?
Link to BIN log from ArduPlane:
https://drive.google.com/open?id=0B5AYQUT-y2S_cy1WQ1M1R0dMNHc
Regards,
SigurdN
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