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Merge pull request #7062 from etracer65/add_tpa_d_only_mode

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Make TPA configurable to affect P/D or D only
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Michael Keller 2018-11-10 19:54:29 +13:00 • committed by GitHub
commit 3cbf8ae02f
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6 changed files with 33 additions and 2 deletions
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12
src/main/interface/settings.c
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@ -407,6 +407,12 @@ static const char * const lookupTableLaunchControlMode[] = {
};
#endif
#ifdef USE_TPA_MODE
static const char * const lookupTableTpaMode[] = {
"PD", "D"
};
#endif
#define LOOKUP_TABLE_ENTRY(name) { name, ARRAYLEN(name) }
const lookupTableEntry_t lookupTables[] = {
@ -510,6 +516,9 @@ const lookupTableEntry_t lookupTables[] = {
#ifdef USE_LAUNCH_CONTROL
LOOKUP_TABLE_ENTRY(lookupTableLaunchControlMode),
#endif
#ifdef USE_TPA_MODE
LOOKUP_TABLE_ENTRY(lookupTableTpaMode),
#endif
};
#undef LOOKUP_TABLE_ENTRY
@ -781,6 +790,9 @@ const clivalue_t valueTable[] = {
{ "yaw_srate", VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmax = { 0, CONTROL_RATE_CONFIG_RATE_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rates[FD_YAW]) },
{ "tpa_rate", VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmax = { 0, CONTROL_RATE_CONFIG_TPA_MAX}, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, dynThrPID) },
{ "tpa_breakpoint", VAR_UINT16 | PROFILE_RATE_VALUE, .config.minmax = { PWM_PULSE_MIN, PWM_PULSE_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, tpa_breakpoint) },
#ifdef USE_TPA_MODE
{ "tpa_mode", VAR_UINT8 | PROFILE_RATE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_TPA_MODE }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, tpaMode) },
#endif
{ "throttle_limit_type", VAR_UINT8 | PROFILE_RATE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_THROTTLE_LIMIT_TYPE }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, throttle_limit_type) },
{ "throttle_limit_percent", VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmax = { 25, 100 }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, throttle_limit_percent) },
{ "roll_rate_limit", VAR_UINT16 | PROFILE_RATE_VALUE, .config.minmax = { CONTROL_RATE_CONFIG_RATE_LIMIT_MIN, CONTROL_RATE_CONFIG_RATE_LIMIT_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rate_limit[FD_ROLL]) },