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TPA optimisations (#12721)

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* TPA optimisations

* improvement, thanks @ledvinap

* update following review comments, thanks karatebrot and ledvinap

* include rx.h in pid_init.c to get PWM_RANGE_MIN

* review suggestion
This commit is contained in:
ctzsnooze 2023-05-12 02:38:15 +10:00 • committed by GitHub
parent c6b3a1e129
commit 10067ad6ad
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4 changed files with 11 additions and 15 deletions
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17
src/main/flight/pid.c
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@ -277,20 +277,9 @@ void pidResetIterm(void)
void pidUpdateTpaFactor(float throttle)
{
pidProfile_t *currentPidProfile;
currentPidProfile = pidProfilesMutable(systemConfig()->pidProfileIndex);
const float tpaBreakpoint = (currentPidProfile->tpa_breakpoint - 1000) / 1000.0f;
float tpaRate = currentPidProfile->tpa_rate / 100.0f;
if (throttle > tpaBreakpoint) {
if (throttle < 1.0f) {
tpaRate *= (throttle - tpaBreakpoint) / (1.0f - tpaBreakpoint);
}
} else {
tpaRate = 0.0f;
}
pidRuntime.tpaFactor = 1.0f - tpaRate;
const float throttleTemp = fminf(throttle, 1.0f); // don't permit throttle > 1 ? is this needed ? can throttle be > 1 at this point ?
const float throttleDifference = fmaxf(throttleTemp - pidRuntime.tpaBreakpoint, 0.0f);
pidRuntime.tpaFactor = 1.0f - throttleDifference * pidRuntime.tpaMultiplier;
}
void pidUpdateAntiGravityThrottleFilter(float throttle)