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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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7
src/main/flight/pid.c
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@ -89,7 +89,7 @@ FAST_DATA_ZERO_INIT float throttleBoost;
pt1Filter_t throttleLpf;
#endif
PG_REGISTER_WITH_RESET_TEMPLATE(pidConfig_t, pidConfig, PG_PID_CONFIG, 4);
PG_REGISTER_WITH_RESET_TEMPLATE(pidConfig_t, pidConfig, PG_PID_CONFIG, 3);
#if defined(STM32F411xE)
#define PID_PROCESS_DENOM_DEFAULT 2
@ -103,12 +103,10 @@ PG_RESET_TEMPLATE(pidConfig_t, pidConfig,
.runaway_takeoff_prevention = true,
.runaway_takeoff_deactivate_throttle = 20, // throttle level % needed to accumulate deactivation time
.runaway_takeoff_deactivate_delay = 500, // Accumulated time (in milliseconds) before deactivation in successful takeoff
.tpaMode = TPA_MODE_D
);
#else
PG_RESET_TEMPLATE(pidConfig_t, pidConfig,
.pid_process_denom = PID_PROCESS_DENOM_DEFAULT,
.tpaMode = TPA_MODE_D
);
#endif
@ -222,6 +220,7 @@ void resetPidProfile(pidProfile_t *pidProfile)
.simplified_dterm_filter_multiplier = SIMPLIFIED_TUNING_DEFAULT,
.anti_gravity_cutoff_hz = 5,
.anti_gravity_p_gain = 100,
.tpa_mode = TPA_MODE_D,
.tpa_rate = 65,
.tpa_breakpoint = 1350,
);
@ -835,7 +834,7 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, timeUs_t currentTim
static float previousRawGyroRateDterm[XYZ_AXIS_COUNT];
#ifdef USE_TPA_MODE
const float tpaFactorKp = (pidConfig()->tpaMode == TPA_MODE_PD) ? pidRuntime.tpaFactor : 1.0f;
const float tpaFactorKp = (pidProfile->tpa_mode == TPA_MODE_PD) ? pidRuntime.tpaFactor : 1.0f;
#else
const float tpaFactorKp = pidRuntime.tpaFactor;
#endif