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

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This commit is contained in:
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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2
src/main/flight/pid.h
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@ -310,6 +310,7 @@ typedef struct pidRuntime_s {
bool itermRotation;
bool zeroThrottleItermReset;
bool levelRaceMode;
float tpaFactor;
#ifdef USE_ITERM_RELAX
pt1Filter_t windupLpf[XYZ_AXIS_COUNT];
@ -411,6 +412,7 @@ void pidSetItermAccelerator(float newItermAccelerator);
bool crashRecoveryModeActive(void);
void pidAcroTrainerInit(void);
void pidSetAcroTrainerState(bool newState);
void pidUpdateTpaFactor(float throttle);
void pidUpdateAntiGravityThrottleFilter(float throttle);
bool pidOsdAntiGravityActive(void);
bool pidOsdAntiGravityMode(void);