The TECS implementation provides a Total Energy Control System for fixed wing aircraft. Its outputs are throttle and pitch to achieve the desired sink / rise rates.

The default gains of TECS seldomly need to be tuned. There are two main tuning factors that allow easy adjustments:

  • FW_T_TIME_CONST - this is the main time constant. Reduce it to make the controller more aggressive (but also more susceptible to noise and less efficient).
  • FW_T_THRO_CONST - this is the throttle time constant. Reduce it to make the system correct altitude errors faster (but also be less efficient)
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