Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-13 11:29:58 +03:00
Code Issues Wiki Activity

Fix: Hyperbolic TPA curve initialization (for wings) (#13932)

Browse source
This commit is contained in:
Ivan Efimov 2024-09-27 13:24:34 -05:00 • committed by GitHub
parent 331801c7a2
commit 983b510184
No known key found for this signature in database
GPG key ID: B5690EEEBB952194
5 changed files with 39 additions and 38 deletions
Download patch file Download diff file Expand all files Collapse all files

5
src/main/flight/pid.c
View file

@ -321,7 +321,7 @@ float getTpaFactorClassic(float tpaArgument)
return 1.0f - tpaRate;
}
void pidUpdateTpaFactor(float throttle, const pidProfile_t *pidProfile)
void pidUpdateTpaFactor(float throttle)
{
// don't permit throttle > 1 & throttle < 0 ? is this needed ? can throttle be > 1 or < 0 at this point
throttle = constrainf(throttle, 0.0f, 1.0f);
@ -334,7 +334,7 @@ void pidUpdateTpaFactor(float throttle, const pidProfile_t *pidProfile)
#endif
#ifdef USE_ADVANCED_TPA
switch (pidProfile->tpa_curve_type) {
switch (pidRuntime.tpaCurveType) {
case TPA_CURVE_HYPERBOLIC:
tpaFactor = pwlInterpolate(&pidRuntime.tpaCurvePwl, tpaArgument);
break;
@ -343,7 +343,6 @@ void pidUpdateTpaFactor(float throttle, const pidProfile_t *pidProfile)
tpaFactor = getTpaFactorClassic(tpaArgument);
}
#else
UNUSED(pidProfile);
tpaFactor = getTpaFactorClassic(tpaArgument);
#endif