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TPA delay in ms (for wings) (#13662)

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* TPA delay in ms (for wings)

* Added comments for time constant

* ledvinap's suggestions

* tpaFactor local variable (based on ledvinap's suggestions)

* pt1FilterGainFromDelay with inlined calculations for cutoff (based on ledvinap's suggestions)

* Karatebrot extra review

* Pump PG for pidConfig_t

* Fixes based on review

* Moved tpaLpf to the end of pidRuntime_t
This commit is contained in:
Ivan Efimov 2024-06-18 17:23:07 -04:00 • committed by GitHub
parent 660018b1de
commit 00ca8232d5
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GPG key ID: B5690EEEBB952194
10 changed files with 72 additions and 8 deletions
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16
src/main/flight/pid.c
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@ -88,7 +88,7 @@ FAST_DATA_ZERO_INIT float throttleBoost;
pt1Filter_t throttleLpf;
#endif
PG_REGISTER_WITH_RESET_TEMPLATE(pidConfig_t, pidConfig, PG_PID_CONFIG, 3);
PG_REGISTER_WITH_RESET_TEMPLATE(pidConfig_t, pidConfig, PG_PID_CONFIG, 4);
#ifndef DEFAULT_PID_PROCESS_DENOM
#define DEFAULT_PID_PROCESS_DENOM 1
@ -230,6 +230,7 @@ void resetPidProfile(pidProfile_t *pidProfile)
.ez_landing_threshold = 25,
.ez_landing_limit = 15,
.ez_landing_speed = 50,
.tpa_delay_ms = 0,
);
#ifndef USE_D_MIN
@ -292,7 +293,18 @@ void pidUpdateTpaFactor(float throttle)
} else {
tpaRate = pidRuntime.tpaLowMultiplier * (pidRuntime.tpaLowBreakpoint - throttle);
}
pidRuntime.tpaFactor = 1.0f - tpaRate;
float tpaFactor = 1.0f - tpaRate;
DEBUG_SET(DEBUG_TPA, 0, lrintf(tpaFactor * 1000));
#ifdef USE_WING
if (isFixedWing()) {
tpaFactor = pt2FilterApply(&pidRuntime.tpaLpf, tpaFactor);
}
#endif
DEBUG_SET(DEBUG_TPA, 1, lrintf(tpaFactor * 1000));
pidRuntime.tpaFactor = tpaFactor;
}
void pidUpdateAntiGravityThrottleFilter(float throttle)