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use Throttle Setpoint, not rcDATA(throttle), for TPA

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ctzsnooze 2022-01-24 15:25:16 +11:00
parent f2559fbfd8
commit 2262dfc60e
16 changed files with 37 additions and 43 deletions
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3
src/main/flight/mixer.c
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@ -518,6 +518,9 @@ FAST_CODE_NOINLINE void mixTable(timeUs_t currentTimeUs)
// use scaled throttle, without dynamic idle throttle offset, as the input to antigravity
pidUpdateAntiGravityThrottleFilter(throttle);
// and for TPA
pidUpdateTpaFactor(throttle);
#ifdef USE_DYN_LPF
// keep the changes to dynamic lowpass clean, without unnecessary dynamic changes
updateDynLpfCutoffs(currentTimeUs, throttle);