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Always USE_TPA_MODE (#13942)

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Always use TPA_MODES
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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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src/main/flight/pid.c
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@ -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();