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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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5
src/main/flight/pid_init.c
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@ -40,6 +40,8 @@
#include "flight/pid.h"
#include "flight/rpm_filter.h"
#include "rx/rx.h"
#include "sensors/gyro.h"
#include "sensors/sensors.h"
@ -423,6 +425,9 @@ void pidInitConfig(const pidProfile_t *pidProfile)
#endif
pidRuntime.levelRaceMode = pidProfile->level_race_mode;
pidRuntime.tpaBreakpoint = constrainf((pidProfile->tpa_breakpoint - PWM_RANGE_MIN) / 1000.0f, 0.0f, 0.99f);
// default of 1350 returns 0.35. range limited to 0 to 0.99
pidRuntime.tpaMultiplier = (pidProfile->tpa_rate / 100.0f) / (1.0f - pidRuntime.tpaBreakpoint);
}
void pidCopyProfile(uint8_t dstPidProfileIndex, uint8_t srcPidProfileIndex)