wboayue / stable-flight / 38686583219
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eXplora: hold waypoint descents to 1.5 m/s; descent rate in the tailsitter guide (#416)

Holds the RealFlight eXplora's waypoint descents to 1.5 m/s
(`max_descent_mps`, was core's 3 m/s default), and adds a hover descent
rate step to the tailsitter tuning guide.

At 3 m/s, hover descents swung the nose ±20° on a 2.5 s cycle while the
pitch setpoint stayed within about 6°. Thrust was near hover (0.82–0.94
at the nose-down peaks; hover 0.84) and the elevons peaked at 0.78
without saturating. Sinking tail first slows the airflow over the
elevons; the pitch loop lags, and the rate loop's I term (I/P 1.7)
sustains the cycle. 1.5 m/s is ArduPilot's and PX4's default descent
rate: `AC_WPNav.cpp:13` `WP_SPD_DOWN_DEFAULT` (ArduPilot master
52870f6159), `multicopter_autonomous_params.yaml:71-76`
`MPC_Z_V_AUTO_DN` (PX4 main 1ae8c9e135).

Closes #414

## Flights

RealFlight eXplora, hover-only script: climb to 60 m over the spawn
point (north −10.55, east 6.49), descend to 20 m, land:

```
x,y,altitude,cruise_speed,regime
-10.55,6.49,60.0,3.0,copter
-10.55,6.49,20.0,3.0,copter
```

`RUST_LOG=info cargo run --release -p stable-flight-sitl-realflight
--example tailsitter-auto-realflight -- <script> --end land --record
run.csv`. Knobs were set per run in a scratch build. The descent window
runs from the peak altitude down to 20.5 m. The "full rate" columns use
only the seconds at ≥245 Hz.

| Setting | Run | Seconds <245 Hz | View pitch, full rate | Worst pitch
error | Elevon peak | Mean sink, full rate |
|---|---|---|---|---|---|---|
| 3 m/s (stock) | 1 | 2/12 | −22.8…+16.7° | 23.4° | 0.78 | 3.0 m/s |
| 3 m/s (stock) | 2 | 5/13 | −21.7…+17.7° | 23.1° | 0.77 | 2.9 m/s |
| 2 m/s | a | 7/21 | −8.4…+1.4° | 6.2° | 0.31 | 1.9 m/s |
| 2 m/s | c | 7/21 | −7.5…−0.4° | 4.9° | 0.29 | 1.9 m/s |
| **1.5 m/s** | a | 3/25 | −3.4…−1.5° | 1.5° | 0.16 | 1.5 m/s |
| **1.5 m/s** | b | 16/32 | −3.5…−1.5° | 1.4° | 0.16 | 1.5 m/s |
| 3 m/s, `STAB_RATE_PIT_P` 0.5, `_I` 0.2 | a | 9/15 | −6.... (continued)

6780 of 7425 relevant lines covered (91.31%)

6.86 hits per line

Coverage Regressions

Lines Coverage ∆ File
9
90.16
0.0% crates/stable-flight-sim/tests/common/mod.rs
2
96.3
-0.93% crates/stable-flight-sim/src/motors.rs
2
96.49
-3.51% crates/stable-flight-sim/tests/waypoint.rs
1
97.37
0.0% crates/stable-flight-sim/src/model.rs
1
83.75
-1.25% crates/stable-flight/src/commanders/waypoint.rs
Jobs
ID Job ID Ran Files Coverage
1 38686583219.1 143
91.31
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Source Files on build 38686583219