Overview

The FBWB parameter group configures the behavior of the Fly-By-Wire B (FBWB) flight mode in ArduPlane.

FBWB is a "Pilot Assist" mode where the autopilot maintains a constant altitude and airspeed when sticks are centered.

• Roll Stick: Commands a bank angle (stiffness/turn).
• Pitch Stick: Commands a climb or descent rate, not a pitch angle.
• Throttle Stick: Commands an airspeed, not a raw motor power.

Key Concepts

1. Climb Rate (FBWB_CLIMB_RATE)

Defines how fast (m/s) the aircraft will climb when the pilot pulls the pitch stick all the way back.

• Behavior: The autopilot uses the TECS (Total Energy Control System) to manage pitch and throttle together to achieve this rate.

2. Stick Logic (FBWB_ELEV_REV)

Allows reversing the sense of the elevator stick for altitude control.

• 0 (Normal): Back on stick = Climb.
• 1 (Reversed): Back on stick = Descend.

Parameter Breakdown

• FBWB_CLIMB_RATE: Maximum climb/descent rate (m/s).
• FBWB_ELEV_REV: Reverse pitch stick sense for altitude.

Integration Guide

• Usage: FBWB is ideal for smooth cruising. It is essentially "Manual with an autopilot safety net."
• Tuning: Ensure your TECS_ parameters (Total Energy) are well-tuned before relying heavily on FBWB climb rates.

Developer Notes

• Library: ArduPlane/mode_fbwb.cpp.