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Fix TPA (#11969)

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haslinghuis 2022-11-09 11:18:14 +01:00 • committed by GitHub
parent b44129f38d
commit 139210e403
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6 changed files with 18 additions and 15 deletions
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6
src/main/cli/settings.c
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@ -1059,9 +1059,6 @@ const clivalue_t valueTable[] = {
{ "runaway_takeoff_deactivate_delay", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 100, 1000 }, PG_PID_CONFIG, offsetof(pidConfig_t, runaway_takeoff_deactivate_delay) }, // deactivate time in ms
{ "runaway_takeoff_deactivate_throttle_percent", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_PID_CONFIG, offsetof(pidConfig_t, runaway_takeoff_deactivate_throttle) }, // minimum throttle percentage during deactivation phase
#endif
#ifdef USE_TPA_MODE
{ PARAM_NAME_TPA_MODE, VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_TPA_MODE }, PG_PID_CONFIG, offsetof(pidConfig_t, tpaMode) },
#endif
// PG_PID_PROFILE
#ifdef USE_PROFILE_NAMES
@ -1216,6 +1213,9 @@ const clivalue_t valueTable[] = {
{ PARAM_NAME_SIMPLIFIED_GYRO_FILTER, VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, simplified_gyro_filter) },
{ PARAM_NAME_SIMPLIFIED_GYRO_FILTER_MULTIPLIER, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { SIMPLIFIED_TUNING_FILTERS_MIN, SIMPLIFIED_TUNING_MAX }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, simplified_gyro_filter_multiplier) },
#endif
#ifdef USE_TPA_MODE
{ PARAM_NAME_TPA_MODE, VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_TPA_MODE }, PG_PID_PROFILE, offsetof(pidProfile_t, tpa_mode) },
#endif
{ PARAM_NAME_TPA_RATE, VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, TPA_MAX}, PG_PID_PROFILE, offsetof(pidProfile_t, tpa_rate) },
{ PARAM_NAME_TPA_BREAKPOINT, VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { PWM_PULSE_MIN, PWM_PULSE_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, tpa_breakpoint) },