TPA added for Yaw // Cleanup unused config params

src/main/blackbox/blackbox.c

@@ -1295,10 +1295,6 @@ static bool blackboxWriteSysinfo()
             blackboxPrintfHeaderLine("dterm_lpf_hz:%d",
                                      (int)(masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_lpf_hz * 100.0));
             break;
-        case 40:
-            blackboxPrintfHeaderLine("deltaMethod:%d",
-                                     masterConfig.profile[masterConfig.current_profile_index].pidProfile.deltaMethod);
-            break;
         case 41:
             blackboxPrintfHeaderLine("H_sensitivity:%d",
                                      masterConfig.profile[masterConfig.current_profile_index].pidProfile.H_sensitivity);

src/main/config/config.c

@@ -183,7 +183,6 @@ static void resetPidProfile(pidProfile_t *pidProfile)
     pidProfile->rollPitchItermResetAlways = 0;
     pidProfile->yawItermResetRate = 50;
     pidProfile->dterm_lpf_hz = 70.0f;    // filtering ON by default
-    pidProfile->deltaMethod = DELTA_FROM_MEASUREMENT;
 
     pidProfile->H_sensitivity = 75;  // TODO - Cleanup during next EEPROM changes
 

src/main/flight/pid.h

@@ -23,8 +23,6 @@
 #define YAW_P_LIMIT_MAX 400                 // Maximum value for yaw P limiter
 
 #define PID_LAST_RATE_COUNT 7
-#define PID_DTERM_FIR_MAX_LENGTH 7
-#define PID_MAX_DIFFERENTIATOR (PID_DTERM_FIR_MAX_LENGTH-2)
 #define ITERM_RESET_THRESHOLD 20
 #define ITERM_RESET_THRESHOLD_YAW 10
 
@@ -81,7 +79,6 @@ typedef struct pidProfile_s {
     uint16_t rollPitchItermResetRate;       // Experimental threshold for resetting iterm for pitch and roll on certain rates
     uint8_t rollPitchItermResetAlways;      // Reset Iterm also without SUPER EXPO
     uint16_t yawItermResetRate;             // Experimental threshold for resetting iterm for yaw on certain rates
-    uint8_t deltaMethod;                    // Alternative delta Calculation
     uint16_t yaw_p_limit;
     uint8_t dterm_average_count;            // Configurable delta count for dterm
     uint8_t dterm_differentiator;

src/main/io/serial_cli.c

@@ -426,10 +426,6 @@ static const char * const lookupTableMagHardware[] = {
     "AK8963"
 };
 
-static const char * const lookupDeltaMethod[] = {
-    "ERROR", "MEASUREMENT"
-};
-
 static const char * const lookupTableDebug[] = {
     "NONE",
     "CYCLETIME",
@@ -468,7 +464,6 @@ typedef enum {
     TABLE_ACC_HARDWARE,
     TABLE_BARO_HARDWARE,
     TABLE_MAG_HARDWARE,
-    TABLE_DELTA_METHOD,
 	TABLE_DEBUG,
     TABLE_SUPEREXPO_YAW,
 } lookupTableIndex_e;
@@ -492,7 +487,6 @@ static const lookupTableEntry_t lookupTables[] = {
     { lookupTableAccHardware, sizeof(lookupTableAccHardware) / sizeof(char *) },
     { lookupTableBaroHardware, sizeof(lookupTableBaroHardware) / sizeof(char *) },
     { lookupTableMagHardware, sizeof(lookupTableMagHardware) / sizeof(char *) },
-    { lookupDeltaMethod, sizeof(lookupDeltaMethod) / sizeof(char *) },
     { lookupTableDebug, sizeof(lookupTableDebug) / sizeof(char *) },
     { lookupTableSuperExpoYaw, sizeof(lookupTableSuperExpoYaw) / sizeof(char *) }
 };
@@ -727,7 +721,6 @@ const clivalue_t valueTable[] = {
 
     { "mag_hardware",               VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.mag_hardware, .config.lookup = { TABLE_MAG_HARDWARE } },
     { "mag_declination",            VAR_INT16  | MASTER_VALUE, &masterConfig.mag_declination, .config.minmax = { -18000,  18000 } },
-    { "pid_delta_method",           VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.deltaMethod, .config.lookup = { TABLE_DELTA_METHOD } },
     { "dterm_lowpass_hz",           VAR_FLOAT  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_lpf_hz, .config.minmax = {0, 500 } },
     { "dterm_differentiator",       VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.dterm_differentiator, .config.lookup = { TABLE_OFF_ON } },
     { "iterm_always_reset",         VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rollPitchItermResetAlways, .config.lookup = { TABLE_OFF_ON } },

src/main/mw.c

@@ -261,13 +261,8 @@ void annexCode(void)
             rcCommand[axis] = (lookupYawRC[tmp2] + (tmp - tmp2 * 100) * (lookupYawRC[tmp2 + 1] - lookupYawRC[tmp2]) / 100) * -masterConfig.yaw_control_direction;
         }
 
-        // non coupled PID reduction scaler used in PID controller 1 and PID controller 2. YAW TPA disabled. 100 means 100% of the pids
+        // non coupled PID reduction scaler used in PID controller 1 and PID controller 2.
-        if (axis == YAW) {
+        PIDweight[axis] = prop;
-            PIDweight[axis] = 100;
-        }
-        else {
-            PIDweight[axis] = prop;
-        }
 
         if (rcData[axis] < masterConfig.rxConfig.midrc)
             rcCommand[axis] = -rcCommand[axis];