Hello!

I’m playing with TECS controller right now and found fine tuning to be difficult. Main reason for it is lack of documentation for this control loop. I’m wondering if Paul or someone here could post block diagram as it was done for roll pitch and yaw controllers (see http://plane.ardupilot.com/wiki/roll-pi ... er-tuning/ ). Otcherwise ill try to create it if you tell me in which part of code it was implemented. 

Thanks in advance,
Kamil