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Additional TPA breakpoint for low Throttle (#13006)

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* Removed white spaces and everything that is not new

Rebase on master and update comment

Make TPA lower independent from air mode

Included tpa_breakpoint_lower_vanish option

Changes according to PR comments

Corrected comment for API version

Bugfix in msp.c

Additional TPA breakpoint for low throttle

* Changes according to PR comments

* Update src/main/cms/cms_menu_imu.c

Co-authored-by: Jan Post <Rm2k-Freak@web.de>

* Update src/main/flight/pid_init.c
This commit is contained in:
pichim 2023-12-04 16:35:27 +01:00 • committed by GitHub
parent c41e2f2680
commit 13d1dc81ce
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GPG key ID: 4AEE18F83AFDEB23
7 changed files with 53 additions and 4 deletions
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15
src/main/cms/cms_menu_imu.c
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@ -267,6 +267,9 @@ static uint8_t cmsx_simplified_gyro_filter;
static uint8_t cmsx_simplified_gyro_filter_multiplier;
static uint8_t cmsx_tpa_rate;
static uint16_t cmsx_tpa_breakpoint;
static uint8_t cmsx_tpa_rate_lower;
static uint16_t cmsx_tpa_breakpoint_lower;
static uint8_t cmsx_tpa_breakpoint_lower_fade;
static const void *cmsx_simplifiedTuningOnEnter(displayPort_t *pDisp)
{
@ -553,6 +556,9 @@ static uint8_t cmsx_feedforward_jitter_factor;
static uint8_t cmsx_tpa_rate;
static uint16_t cmsx_tpa_breakpoint;
static uint8_t cmsx_tpa_rate_lower;
static uint16_t cmsx_tpa_breakpoint_lower;
static uint8_t cmsx_tpa_breakpoint_lower_fade;
static const void *cmsx_profileOtherOnEnter(displayPort_t *pDisp)
{
@ -605,6 +611,9 @@ static const void *cmsx_profileOtherOnEnter(displayPort_t *pDisp)
#endif
cmsx_tpa_rate = pidProfile->tpa_rate;
cmsx_tpa_breakpoint = pidProfile->tpa_breakpoint;
cmsx_tpa_rate_lower = pidProfile->tpa_rate_lower;
cmsx_tpa_breakpoint_lower = pidProfile->tpa_breakpoint_lower;
cmsx_tpa_breakpoint_lower_fade = pidProfile->tpa_breakpoint_lower_fade;
return NULL;
}
@ -660,6 +669,9 @@ static const void *cmsx_profileOtherOnExit(displayPort_t *pDisp, const OSD_Entry
#endif
pidProfile->tpa_rate = cmsx_tpa_rate;
pidProfile->tpa_breakpoint = cmsx_tpa_breakpoint;
pidProfile->tpa_rate_lower = cmsx_tpa_rate_lower;
pidProfile->tpa_breakpoint_lower = cmsx_tpa_breakpoint_lower;
pidProfile->tpa_breakpoint_lower_fade = cmsx_tpa_breakpoint_lower_fade;
initEscEndpoints();
return NULL;
@ -717,6 +729,9 @@ static const OSD_Entry cmsx_menuProfileOtherEntries[] = {
{ "TPA RATE", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_tpa_rate, 0, 100, 1, 10} },
{ "TPA BRKPT", OME_UINT16, NULL, &(OSD_UINT16_t){ &cmsx_tpa_breakpoint, 1000, 2000, 10} },
{ "TPA RATE LOW", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_tpa_rate_lower, 0, 100, 1, 10} },
{ "TPA BRKPT LOW", OME_UINT16, NULL, &(OSD_UINT16_t){ &cmsx_tpa_breakpoint_lower, 1000, 2000, 10} },
{ "TPA BRKPT LOW FAD", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_tpa_breakpoint_lower_fade, 0, 1, 1} },
{ "BACK", OME_Back, NULL, NULL },
{ NULL, OME_END, NULL, NULL}