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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
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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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src/main/flight/pid.h
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@ -322,6 +322,8 @@ typedef struct pidRuntime_s {
bool zeroThrottleItermReset;
bool levelRaceMode;
float tpaFactor;
float tpaBreakpoint;
float tpaMultiplier;
#ifdef USE_ITERM_RELAX
pt1Filter_t windupLpf[XYZ_AXIS_COUNT];