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Code Issues Wiki Activity

Always USE_TPA_MODE (#13942)

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Always use TPA_MODES
This commit is contained in:
Ivan Efimov 2024-09-30 09:30:52 -05:00 • committed by GitHub
parent dfea2c8cbf
commit a37bd7c974
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4 changed files with 0 additions and 13 deletions
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6
src/main/cli/settings.c
View file

@ -438,11 +438,9 @@ static const char * const lookupTableLaunchControlMode[] = {
};
#endif
#ifdef USE_TPA_MODE
static const char * const lookupTableTpaMode[] = {
"PD", "D"
};
#endif
static const char * const lookupTableSpaMode[] = {
"OFF", "I_FREEZE", "I", "PID", "PD_I_FREEZE"
@ -637,9 +635,7 @@ const lookupTableEntry_t lookupTables[] = {
#ifdef USE_LAUNCH_CONTROL
LOOKUP_TABLE_ENTRY(lookupTableLaunchControlMode),
#endif
#ifdef USE_TPA_MODE
LOOKUP_TABLE_ENTRY(lookupTableTpaMode),
#endif
LOOKUP_TABLE_ENTRY(lookupTableSpaMode),
#ifdef USE_LED_STRIP
LOOKUP_TABLE_ENTRY(lookupTableLEDProfile),
@ -1278,9 +1274,7 @@ const clivalue_t valueTable[] = {
{ PARAM_NAME_SIMPLIFIED_GYRO_FILTER, VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, simplified_gyro_filter) },
{ PARAM_NAME_SIMPLIFIED_GYRO_FILTER_MULTIPLIER, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { SIMPLIFIED_TUNING_FILTERS_MIN, SIMPLIFIED_TUNING_MAX }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, simplified_gyro_filter_multiplier) },
#endif
#ifdef USE_TPA_MODE
{ PARAM_NAME_TPA_MODE, VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_TPA_MODE }, PG_PID_PROFILE, offsetof(pidProfile_t, tpa_mode) },
#endif
{ PARAM_NAME_TPA_RATE, VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, TPA_MAX}, PG_PID_PROFILE, offsetof(pidProfile_t, tpa_rate) },
{ PARAM_NAME_TPA_BREAKPOINT, VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { PWM_RANGE_MIN, PWM_RANGE_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, tpa_breakpoint) },
{ PARAM_NAME_TPA_LOW_RATE, VAR_INT8 | PROFILE_VALUE, .config.minmax = { TPA_LOW_RATE_MIN, TPA_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, tpa_low_rate) },

2
src/main/cli/settings.h
View file

@ -120,9 +120,7 @@ typedef enum {
#ifdef USE_LAUNCH_CONTROL
TABLE_LAUNCH_CONTROL_MODE,
#endif
#ifdef USE_TPA_MODE
TABLE_TPA_MODE,
#endif
TABLE_SPA_MODE,
#ifdef USE_LED_STRIP
TABLE_LED_PROFILE,

4
src/main/flight/pid.c
View file

@ -944,11 +944,7 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, timeUs_t currentTim
calculateSpaValues(pidProfile);
#ifdef USE_TPA_MODE
const float tpaFactorKp = (pidProfile->tpa_mode == TPA_MODE_PD) ? pidRuntime.tpaFactor : 1.0f;
#else
const float tpaFactorKp = pidRuntime.tpaFactor;
#endif
#ifdef USE_YAW_SPIN_RECOVERY
const bool yawSpinActive = gyroYawSpinDetected();

1
src/main/target/common_pre.h
View file

@ -329,7 +329,6 @@
#define USE_ITERM_RELAX
#define USE_RC_SMOOTHING_FILTER
#define USE_THRUST_LINEARIZATION
#define USE_TPA_MODE
#if defined(USE_SERIALRX_SPEKTRUM) || defined(USE_SERIALRX_SRXL2)
#define USE_SPEKTRUM_BIND