diff --git a/plane/source/docs/soaring.rst b/plane/source/docs/soaring.rst index 9802da5d01..53116c8b9a 100644 --- a/plane/source/docs/soaring.rst +++ b/plane/source/docs/soaring.rst @@ -189,6 +189,12 @@ and then begin a gliding descent. Watch the telemetry graphs or look at the Data by increasing ``PTCH2SRV_IMAX`` and :ref:`TECS_INTEG_GAIN` to achieve good airspeed tracking in gliding flight. +In AUTO mode, the target airspeed for gliding can be adjusted by :ref:`SOAR_CRSE_ARSPD`, +The special case value of -1 can be used to glide using the "speed to fly" principle which adjusts the +gliding airspeed based on the wind and expected thermal updraft velocity to achieve the optimal groundspeed. +When thermals are strong, and it's flying into a headwind, the gliding speed will be faster than when +thermals are weak and it's flying in a tailwind. + Notes =====