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Code Issues Wiki Activity

Added options to allow further TPA configuration

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Replaced define BREAKPOINT with cfg option
Added tpa and tpa_breakpoint to cli
This commit is contained in:
Johannes Kasberger 2014-04-07 22:52:32 +02:00
parent 4faa8d0043
commit 74a54d81dd
4 changed files with 6 additions and 4 deletions
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6
src/mw.c
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@ -80,8 +80,6 @@ void blinkLED(uint8_t num, uint8_t wait, uint8_t repeat)
}
}
#define BREAKPOINT 1500
void annexCode(void)
{
static uint32_t calibratedAccTime;
@ -98,11 +96,11 @@ void annexCode(void)
int i;
// PITCH & ROLL only dynamic PID adjustemnt, depending on throttle value
if (rcData[THROTTLE] < BREAKPOINT) {
if (rcData[THROTTLE] < cfg.tpaBreakPoint) {
prop2 = 100;
} else {
if (rcData[THROTTLE] < 2000) {
prop2 = 100 - (uint16_t) cfg.dynThrPID * (rcData[THROTTLE] - BREAKPOINT) / (2000 - BREAKPOINT);
prop2 = 100 - (uint16_t) cfg.dynThrPID * (rcData[THROTTLE] - cfg.tpaBreakPoint) / (2000 - cfg.tpaBreakPoint);
} else {
prop2 = 100 - cfg.dynThrPID;
}