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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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7 changed files with 53 additions and 4 deletions
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22
src/main/flight/pid.c
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@ -116,7 +116,7 @@ PG_RESET_TEMPLATE(pidConfig_t, pidConfig,
#define LAUNCH_CONTROL_YAW_ITERM_LIMIT 50 // yaw iterm windup limit when launch mode is "FULL" (all axes)
PG_REGISTER_ARRAY_WITH_RESET_FN(pidProfile_t, PID_PROFILE_COUNT, pidProfiles, PG_PID_PROFILE, 7);
PG_REGISTER_ARRAY_WITH_RESET_FN(pidProfile_t, PID_PROFILE_COUNT, pidProfiles, PG_PID_PROFILE, 8);
void resetPidProfile(pidProfile_t *pidProfile)
{
@ -224,6 +224,9 @@ void resetPidProfile(pidProfile_t *pidProfile)
.angle_feedforward_smoothing_ms = 80,
.angle_earth_ref = 100,
.horizon_delay_ms = 500, // 500ms time constant on any increase in horizon strength
.tpa_rate_lower = 20,
.tpa_breakpoint_lower = 1050,
.tpa_breakpoint_lower_fade = 1,
);
#ifndef USE_D_MIN
@ -273,9 +276,20 @@ void pidResetIterm(void)
void pidUpdateTpaFactor(float throttle)
{
const float throttleTemp = fminf(throttle, 1.0f); // don't permit throttle > 1 ? is this needed ? can throttle be > 1 at this point ?
const float throttleDifference = fmaxf(throttleTemp - pidRuntime.tpaBreakpoint, 0.0f);
pidRuntime.tpaFactor = 1.0f - throttleDifference * pidRuntime.tpaMultiplier;
static bool isTpaLowerFaded = false;
// don't permit throttle > 1 & throttle < 0 ? is this needed ? can throttle be > 1 or < 0 at this point
throttle = constrainf(throttle, 0.0f, 1.0f);
bool isThrottlePastTpaBreakpointLower = (throttle < pidRuntime.tpaBreakpointLower && pidRuntime.tpaBreakpointLower > 0.01f) ? false : true;
float tpaRate = 0.0f;
if (isThrottlePastTpaBreakpointLower || isTpaLowerFaded) {
tpaRate = pidRuntime.tpaMultiplier * fmaxf(throttle - pidRuntime.tpaBreakpoint, 0.0f);
if (pidRuntime.tpaBreakpointLowerFade && !isTpaLowerFaded) {
isTpaLowerFaded = true;
}
} else {
tpaRate = pidRuntime.tpaMultiplierLower * (pidRuntime.tpaBreakpointLower - throttle);
}
pidRuntime.tpaFactor = 1.0f - tpaRate;
}
void pidUpdateAntiGravityThrottleFilter(float throttle)