Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-14 03:50:02 +03:00
Code Issues Wiki Activity

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

Browse source
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
Download patch file Download diff file Expand all files Collapse all files

4
src/test/unit/pid_unittest.cc
View file

@ -28,7 +28,6 @@ bool simulatedAirmodeEnabled = true;
float simulatedSetpointRate[3] = { 0,0,0 };
float simulatedPrevSetpointRate[3] = { 0,0,0 };
float simulatedRcDeflection[3] = { 0,0,0 };
float simulatedThrottlePIDAttenuation = 1.0f;
float simulatedMotorMixRange = 0.0f;
int16_t debug[DEBUG16_VALUE_COUNT];
@ -78,7 +77,6 @@ extern "C" {
bool unitLaunchControlActive = false;
launchControlMode_e unitLaunchControlMode = LAUNCH_CONTROL_MODE_NORMAL;
float getThrottlePIDAttenuation(void) { return simulatedThrottlePIDAttenuation; }
float getMotorMixRange(void) { return simulatedMotorMixRange; }
float getSetpointRate(int axis) { return simulatedSetpointRate[axis]; }
bool isAirmodeActivated() { return simulatedAirmodeEnabled; }
@ -180,7 +178,7 @@ timeUs_t currentTestTime(void) {
void resetTest(void) {
loopIter = 0;
simulatedThrottlePIDAttenuation = 1.0f;
pidRuntime.tpaFactor = 1.0f;
simulatedMotorMixRange = 0.0f;
pidStabilisationState(PID_STABILISATION_OFF);