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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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GPG key ID: 4AEE18F83AFDEB23
6 changed files with 18 additions and 15 deletions
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4
src/main/flight/pid.h
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@ -230,6 +230,7 @@ typedef struct pidProfile_s {
uint8_t anti_gravity_cutoff_hz;
uint8_t anti_gravity_p_gain;
uint8_t tpa_mode; // Controls which PID terms TPA effects
uint8_t tpa_rate; // Percent reduction in P or D at full throttle
uint16_t tpa_breakpoint; // Breakpoint where TPA is activated
} pidProfile_t;
@ -241,7 +242,6 @@ typedef struct pidConfig_s {
uint8_t runaway_takeoff_prevention; // off, on - enables pidsum runaway disarm logic
uint16_t runaway_takeoff_deactivate_delay; // delay in ms for "in-flight" conditions before deactivation (successful flight)
uint8_t runaway_takeoff_deactivate_throttle; // minimum throttle percent required during deactivation phase
uint8_t tpaMode; // Controls which PID terms TPA effects
} pidConfig_t;
PG_DECLARE(pidConfig_t, pidConfig);
@ -400,8 +400,6 @@ typedef struct pidRuntime_s {
#ifdef USE_ACC
pt3Filter_t attitudeFilter[2]; // Only for ROLL and PITCH
#endif
uint8_t tpa_rate;
uint16_t tpa_breakpoint;
} pidRuntime_t;
extern pidRuntime_t pidRuntime;