Merge pull request #11779 from haslinghuis/update-pidprofile

Move TPA to PID profile

src/main/blackbox/blackbox.c

@@ -1327,8 +1327,8 @@ static bool blackboxWriteSysinfo(void)
         BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_PID_PROCESS_DENOM, "%d",      activePidLoopDenom);
         BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_THR_MID, "%d",                currentControlRateProfile->thrMid8);
         BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_THR_EXPO, "%d",               currentControlRateProfile->thrExpo8);
-        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_TPA_RATE, "%d",               currentControlRateProfile->tpa_rate);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_TPA_RATE, "%d",               currentPidProfile->tpa_rate);
-        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_TPA_BREAKPOINT, "%d",         currentControlRateProfile->tpa_breakpoint);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_TPA_BREAKPOINT, "%d",         currentPidProfile->tpa_breakpoint);
         BLACKBOX_PRINT_HEADER_LINE("rc_rates", "%d,%d,%d",                  currentControlRateProfile->rcRates[ROLL],
                                                                             currentControlRateProfile->rcRates[PITCH],
                                                                             currentControlRateProfile->rcRates[YAW]);

src/main/cli/settings.c

@@ -975,11 +975,6 @@ const clivalue_t valueTable[] = {
     { "roll_srate",                 VAR_UINT8  | PROFILE_RATE_VALUE, .config.minmaxUnsigned = { 0, CONTROL_RATE_CONFIG_RATE_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rates[FD_ROLL]) },
     { "pitch_srate",                VAR_UINT8  | PROFILE_RATE_VALUE, .config.minmaxUnsigned = { 0, CONTROL_RATE_CONFIG_RATE_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rates[FD_PITCH]) },
     { "yaw_srate",                  VAR_UINT8  | PROFILE_RATE_VALUE, .config.minmaxUnsigned = { 0, CONTROL_RATE_CONFIG_RATE_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rates[FD_YAW]) },
-    { PARAM_NAME_TPA_RATE,          VAR_UINT8  | PROFILE_RATE_VALUE, .config.minmaxUnsigned = { 0, CONTROL_RATE_CONFIG_TPA_MAX}, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, tpa_rate) },
-    { PARAM_NAME_TPA_BREAKPOINT,    VAR_UINT16 | PROFILE_RATE_VALUE, .config.minmaxUnsigned = { PWM_PULSE_MIN, PWM_PULSE_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, tpa_breakpoint) },
-#ifdef USE_TPA_MODE
-    { "tpa_mode",                   VAR_UINT8  | PROFILE_RATE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_TPA_MODE }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, tpaMode) },
-#endif
     { PARAM_NAME_THROTTLE_LIMIT_TYPE,    VAR_UINT8  | PROFILE_RATE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_THROTTLE_LIMIT_TYPE }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, throttle_limit_type) },
     { PARAM_NAME_THROTTLE_LIMIT_PERCENT, VAR_UINT8  | PROFILE_RATE_VALUE, .config.minmaxUnsigned = { 25, 100 }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, throttle_limit_percent) },
     { "roll_rate_limit",            VAR_UINT16 | PROFILE_RATE_VALUE, .config.minmaxUnsigned = { CONTROL_RATE_CONFIG_RATE_LIMIT_MIN, CONTROL_RATE_CONFIG_RATE_LIMIT_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rate_limit[FD_ROLL]) },
@@ -1065,6 +1060,9 @@ const clivalue_t valueTable[] = {
     { "runaway_takeoff_deactivate_delay",  VAR_UINT16  | MASTER_VALUE, .config.minmaxUnsigned = { 100, 1000 }, PG_PID_CONFIG, offsetof(pidConfig_t, runaway_takeoff_deactivate_delay) },           // deactivate time in ms
     { "runaway_takeoff_deactivate_throttle_percent",  VAR_UINT8  | MASTER_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_PID_CONFIG, offsetof(pidConfig_t, runaway_takeoff_deactivate_throttle) }, // minimum throttle percentage during deactivation phase
 #endif
+#ifdef USE_TPA_MODE
+    { PARAM_NAME_TPA_MODE,          VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_TPA_MODE }, PG_PID_CONFIG, offsetof(pidConfig_t, tpaMode) },
+#endif
 
 // PG_PID_PROFILE
 #ifdef USE_PROFILE_NAMES
@@ -1220,6 +1218,8 @@ 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
+    { 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_PULSE_MIN, PWM_PULSE_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, tpa_breakpoint) },
 
 // PG_TELEMETRY_CONFIG
 #ifdef USE_TELEMETRY

src/main/cms/cms_menu_imu.c

@@ -246,6 +246,8 @@ static uint8_t cmsx_simplified_dterm_filter;
 static uint8_t cmsx_simplified_dterm_filter_multiplier;
 static uint8_t cmsx_simplified_gyro_filter;
 static uint8_t cmsx_simplified_gyro_filter_multiplier;
+static uint8_t cmsx_tpa_rate;
+static uint16_t cmsx_tpa_breakpoint;
 
 static const void *cmsx_simplifiedTuningOnEnter(displayPort_t *pDisp)
 {
@@ -410,8 +412,6 @@ static const OSD_Entry cmsx_menuRateProfileEntries[] =
 
     { "THR MID",     OME_UINT8,  NULL, &(OSD_UINT8_t) { &rateProfile.thrMid8,           0,  100,  1} },
     { "THR EXPO",    OME_UINT8,  NULL, &(OSD_UINT8_t) { &rateProfile.thrExpo8,          0,  100,  1} },
-    { "THRPID ATT",  OME_FLOAT,  NULL, &(OSD_FLOAT_t) { &rateProfile.tpa_rate,         0,  100,  1, 10} },
-    { "TPA BRKPT",   OME_UINT16, NULL, &(OSD_UINT16_t){ &rateProfile.tpa_breakpoint, 1000, 2000, 10} },
 
     { "THR LIM TYPE",OME_TAB,    NULL, &(OSD_TAB_t)   { &rateProfile.throttle_limit_type, THROTTLE_LIMIT_TYPE_COUNT - 1, osdTableThrottleLimitType} },
     { "THR LIM %",   OME_UINT8,  NULL, &(OSD_UINT8_t) { &rateProfile.throttle_limit_percent, 25,  100,  1} },
@@ -625,6 +625,9 @@ static const void *cmsx_profileOtherOnExit(displayPort_t *pDisp, const OSD_Entry
     pidProfile->vbat_sag_compensation = cmsx_vbat_sag_compensation;
 #endif
 
+    pidProfile->tpa_rate = cmsx_tpa_rate;
+    pidProfile->tpa_breakpoint = cmsx_tpa_breakpoint;
+
     initEscEndpoints();
     return NULL;
 }
@@ -675,6 +678,9 @@ static const OSD_Entry cmsx_menuProfileOtherEntries[] = {
     { "VBAT_SAG_COMP", OME_UINT8,  NULL, &(OSD_UINT8_t) { &cmsx_vbat_sag_compensation, 0, 150, 1 } },
 #endif
 
+    { "THRPID ATT",  OME_FLOAT,  NULL, &(OSD_FLOAT_t) { &cmsx_tpa_rate,          0,  100,  1, 10} },
+    { "TPA BRKPT",   OME_UINT16, NULL, &(OSD_UINT16_t){ &cmsx_tpa_breakpoint, 1000, 2000, 10} },
+
     { "BACK", OME_Back, NULL, NULL },
     { NULL, OME_END, NULL, NULL}
 };

src/main/fc/controlrate_profile.c

@@ -37,7 +37,7 @@
 
 controlRateConfig_t *currentControlRateProfile;
 
-PG_REGISTER_ARRAY_WITH_RESET_FN(controlRateConfig_t, CONTROL_RATE_PROFILE_COUNT, controlRateProfiles, PG_CONTROL_RATE_PROFILES, 4);
+PG_REGISTER_ARRAY_WITH_RESET_FN(controlRateConfig_t, CONTROL_RATE_PROFILE_COUNT, controlRateProfiles, PG_CONTROL_RATE_PROFILES, 5);
 
 void pgResetFn_controlRateProfiles(controlRateConfig_t *controlRateConfig)
 {
@@ -45,8 +45,6 @@ void pgResetFn_controlRateProfiles(controlRateConfig_t *controlRateConfig)
         RESET_CONFIG(controlRateConfig_t, &controlRateConfig[i],
             .thrMid8 = 50,
             .thrExpo8 = 0,
-            .tpa_rate = 65,
-            .tpa_breakpoint = 1350,
             .rates_type = RATES_TYPE_ACTUAL,
             .rcRates[FD_ROLL] = 7,
             .rcRates[FD_PITCH] = 7,
@@ -62,7 +60,6 @@ void pgResetFn_controlRateProfiles(controlRateConfig_t *controlRateConfig)
             .rate_limit[FD_ROLL] = CONTROL_RATE_CONFIG_RATE_LIMIT_MAX,
             .rate_limit[FD_PITCH] = CONTROL_RATE_CONFIG_RATE_LIMIT_MAX,
             .rate_limit[FD_YAW] = CONTROL_RATE_CONFIG_RATE_LIMIT_MAX,
-            .tpaMode = TPA_MODE_D,
             .profileName = { 0 },
             .quickRatesRcExpo = 0,
             .levelExpo[FD_ROLL] = 0,

src/main/fc/controlrate_profile.h

@@ -46,11 +46,6 @@ typedef enum {
     THROTTLE_LIMIT_TYPE_COUNT   // must be the last entry
 } throttleLimitType_e;
 
-typedef enum {
-    TPA_MODE_PD,
-    TPA_MODE_D
-} tpaMode_e;
-
 #define MAX_RATE_PROFILE_NAME_LENGTH 8u
 
 typedef struct controlRateConfig_s {
@@ -60,12 +55,9 @@ typedef struct controlRateConfig_s {
     uint8_t rcRates[3];
     uint8_t rcExpo[3];
     uint8_t rates[3];
-    uint8_t tpa_rate;                       // Percent reduction in P or D at full throttle
-    uint16_t tpa_breakpoint;                // Breakpoint where TPA is activated
     uint8_t throttle_limit_type;            // Sets the throttle limiting type - off, scale or clip
     uint8_t throttle_limit_percent;         // Sets the maximum pilot commanded throttle limit
     uint16_t rate_limit[3];                 // Sets the maximum rate for the axes
-    uint8_t tpaMode;                        // Controls which PID terms TPA effects
     char profileName[MAX_RATE_PROFILE_NAME_LENGTH + 1]; // Descriptive name for rate profile
     uint8_t quickRatesRcExpo;               // Sets expo on rc command for quick rates
     uint8_t levelExpo[2];                   // roll/pitch level mode expo

src/main/fc/parameter_names.h

@@ -54,6 +54,7 @@
 #define PARAM_NAME_RATES_TYPE "rates_type"
 #define PARAM_NAME_TPA_RATE "tpa_rate"
 #define PARAM_NAME_TPA_BREAKPOINT "tpa_breakpoint"
+#define PARAM_NAME_TPA_MODE "tpa_mode"
 #define PARAM_NAME_THROTTLE_LIMIT_TYPE "throttle_limit_type"
 #define PARAM_NAME_THROTTLE_LIMIT_PERCENT "throttle_limit_percent"
 #define PARAM_NAME_GYRO_CAL_ON_FIRST_ARM "gyro_cal_on_first_arm"

src/main/fc/rc_controls.h

@@ -82,8 +82,6 @@ typedef enum {
 // (Super) rates are constrained to [0, 100] for Betaflight rates, so values higher than 100 won't make a difference. Range extended for RaceFlight rates.
 #define CONTROL_RATE_CONFIG_RATE_MAX  255
 
-#define CONTROL_RATE_CONFIG_TPA_MAX              100
-
 extern float rcCommand[4];
 
 typedef struct rcSmoothingFilterTraining_s {

src/main/flight/pid.c

@@ -31,6 +31,7 @@
 #include "common/axis.h"
 #include "common/filter.h"
 
+#include "config/config.h"
 #include "config/config_reset.h"
 #include "config/simplified_tuning.h"
 
@@ -87,7 +88,7 @@ FAST_DATA_ZERO_INIT float throttleBoost;
 pt1Filter_t throttleLpf;
 #endif
 
-PG_REGISTER_WITH_RESET_TEMPLATE(pidConfig_t, pidConfig, PG_PID_CONFIG, 3);
+PG_REGISTER_WITH_RESET_TEMPLATE(pidConfig_t, pidConfig, PG_PID_CONFIG, 4);
 
 #if defined(STM32F411xE)
 #define PID_PROCESS_DENOM_DEFAULT       2
@@ -100,11 +101,13 @@ PG_RESET_TEMPLATE(pidConfig_t, pidConfig,
     .pid_process_denom = PID_PROCESS_DENOM_DEFAULT,
     .runaway_takeoff_prevention = true,
     .runaway_takeoff_deactivate_throttle = 20,  // throttle level % needed to accumulate deactivation time
-    .runaway_takeoff_deactivate_delay = 500     // Accumulated time (in milliseconds) before deactivation in successful takeoff
+    .runaway_takeoff_deactivate_delay = 500,    // Accumulated time (in milliseconds) before deactivation in successful takeoff
+    .tpaMode = TPA_MODE_D
 );
 #else
 PG_RESET_TEMPLATE(pidConfig_t, pidConfig,
-    .pid_process_denom = PID_PROCESS_DENOM_DEFAULT
+    .pid_process_denom = PID_PROCESS_DENOM_DEFAULT,
+    .tpaMode = TPA_MODE_D
 );
 #endif
 
@@ -117,7 +120,7 @@ PG_RESET_TEMPLATE(pidConfig_t, pidConfig,
 
 #define LAUNCH_CONTROL_YAW_ITERM_LIMIT 50 // yaw iterm windup limit when launch mode is "FULL" (all axes)
 
-PG_REGISTER_ARRAY_WITH_RESET_FN(pidProfile_t, PID_PROFILE_COUNT, pidProfiles, PG_PID_PROFILE, 4);
+PG_REGISTER_ARRAY_WITH_RESET_FN(pidProfile_t, PID_PROFILE_COUNT, pidProfiles, PG_PID_PROFILE, 5);
 
 void resetPidProfile(pidProfile_t *pidProfile)
 {
@@ -218,6 +221,8 @@ void resetPidProfile(pidProfile_t *pidProfile)
         .simplified_dterm_filter_multiplier = SIMPLIFIED_TUNING_DEFAULT,
         .anti_gravity_cutoff_hz = 5,
         .anti_gravity_p_gain = 100,
+        .tpa_rate = 65,
+        .tpa_breakpoint = 1350,
     );
 
 #ifndef USE_D_MIN
@@ -289,8 +294,12 @@ void pidResetIterm(void)
 
 void pidUpdateTpaFactor(float throttle)
 {
-    const float tpaBreakpoint = (currentControlRateProfile->tpa_breakpoint - 1000) / 1000.0f;
+    pidProfile_t *currentPidProfile;
-    float tpaRate = currentControlRateProfile->tpa_rate / 100.0f;
+
+    currentPidProfile = pidProfilesMutable(systemConfig()->pidProfileIndex);
+    const float tpaBreakpoint = (currentPidProfile->tpa_breakpoint - 1000) / 1000.0f;
+    float tpaRate = currentPidProfile->tpa_rate / 100.0f;
+
     if (throttle > tpaBreakpoint) {
         if (throttle < 1.0f) {
             tpaRate *= (throttle - tpaBreakpoint) / (1.0f - tpaBreakpoint);
@@ -825,7 +834,7 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, timeUs_t currentTim
     static float previousRawGyroRateDterm[XYZ_AXIS_COUNT];
 
 #ifdef USE_TPA_MODE
-    const float tpaFactorKp = (currentControlRateProfile->tpaMode == TPA_MODE_PD) ? pidRuntime.tpaFactor : 1.0f;
+    const float tpaFactorKp = (pidConfig()->tpaMode == TPA_MODE_PD) ? pidRuntime.tpaFactor : 1.0f;
 #else
     const float tpaFactorKp = pidRuntime.tpaFactor;
 #endif

src/main/flight/pid.h

@@ -68,6 +68,13 @@
 #define DTERM_LPF1_DYN_MAX_HZ_DEFAULT 150
 #define DTERM_LPF2_HZ_DEFAULT 150
 
+#define TPA_MAX 100
+
+typedef enum {
+    TPA_MODE_PD,
+    TPA_MODE_D
+} tpaMode_e;
+
 typedef enum {
     PID_ROLL,
     PID_PITCH,
@@ -223,15 +230,18 @@ typedef struct pidProfile_s {
 
     uint8_t anti_gravity_cutoff_hz;
     uint8_t anti_gravity_p_gain;
+    uint8_t tpa_rate;                       // Percent reduction in P or D at full throttle
+    uint16_t tpa_breakpoint;                // Breakpoint where TPA is activated
 } pidProfile_t;
 
 PG_DECLARE_ARRAY(pidProfile_t, PID_PROFILE_COUNT, pidProfiles);
 
 typedef struct pidConfig_s {
-    uint8_t pid_process_denom;              // Processing denominator for PID controller vs gyro sampling rate
+    uint8_t pid_process_denom;                   // Processing denominator for PID controller vs gyro sampling rate
     uint8_t runaway_takeoff_prevention;          // off, on - enables pidsum runaway disarm logic
     uint16_t runaway_takeoff_deactivate_delay;   // delay in ms for "in-flight" conditions before deactivation (successful flight)
     uint8_t runaway_takeoff_deactivate_throttle; // minimum throttle percent required during deactivation phase
+    uint8_t tpaMode;                             // Controls which PID terms TPA effects
 } pidConfig_t;
 
 PG_DECLARE(pidConfig_t, pidConfig);
@@ -390,6 +400,8 @@ typedef struct pidRuntime_s {
 #ifdef USE_ACC
     pt3Filter_t attitudeFilter[2];  // Only for ROLL and PITCH
 #endif
+    uint8_t tpa_rate;
+    uint16_t tpa_breakpoint;
 } pidRuntime_t;
 
 extern pidRuntime_t pidRuntime;

src/main/msp/msp.c

@@ -1353,10 +1353,10 @@ static bool mspProcessOutCommand(mspDescriptor_t srcDesc, int16_t cmdMSP, sbuf_t
         for (int i = 0 ; i < 3; i++) {
             sbufWriteU8(dst, currentControlRateProfile->rates[i]); // R,P,Y see flight_dynamics_index_t
         }
-        sbufWriteU8(dst, currentControlRateProfile->tpa_rate);
+        sbufWriteU8(dst, 0);   // was currentControlRateProfile->tpa_rate
         sbufWriteU8(dst, currentControlRateProfile->thrMid8);
         sbufWriteU8(dst, currentControlRateProfile->thrExpo8);
-        sbufWriteU16(dst, currentControlRateProfile->tpa_breakpoint);
+        sbufWriteU16(dst, 0);   // was currentControlRateProfile->tpa_breakpoint
         sbufWriteU8(dst, currentControlRateProfile->rcExpo[FD_YAW]);
         sbufWriteU8(dst, currentControlRateProfile->rcRates[FD_YAW]);
         sbufWriteU8(dst, currentControlRateProfile->rcRates[FD_PITCH]);
@@ -2014,6 +2014,8 @@ static bool mspProcessOutCommand(mspDescriptor_t srcDesc, int16_t cmdMSP, sbuf_t
 #else
         sbufWriteU8(dst, 0);
 #endif
+        sbufWriteU8(dst, currentPidProfile->tpa_rate);
+        sbufWriteU16(dst, currentPidProfile->tpa_breakpoint);   // was currentControlRateProfile->tpa_breakpoint
         break;
     case MSP_SENSOR_CONFIG:
 #if defined(USE_ACC)
@@ -2666,11 +2668,10 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
                 currentControlRateProfile->rates[i] = sbufReadU8(src);
             }
 
-            value = sbufReadU8(src);
+            sbufReadU8(src);    // tpa_rate is moved to PID profile
-            currentControlRateProfile->tpa_rate = MIN(value, CONTROL_RATE_CONFIG_TPA_MAX);
             currentControlRateProfile->thrMid8 = sbufReadU8(src);
             currentControlRateProfile->thrExpo8 = sbufReadU8(src);
-            currentControlRateProfile->tpa_breakpoint = sbufReadU16(src);
+            sbufReadU16(src);   // tpa_breakpoint is moved to PID profile
 
             if (sbufBytesRemaining(src) >= 1) {
                 currentControlRateProfile->rcExpo[FD_YAW] = sbufReadU8(src);
@@ -3135,6 +3136,13 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
             sbufReadU8(src);
 #endif
         }
+        if (sbufBytesRemaining(src) >= 3) {
+            // Added in API 1.45
+            value = sbufReadU8(src);
+            currentPidProfile->tpa_rate = MIN(value, TPA_MAX);
+            currentPidProfile->tpa_breakpoint = sbufReadU16(src);
+        }
+
         pidInitConfig(currentPidProfile);
         initEscEndpoints();
         mixerInitProfile();

src/test/unit/rc_controls_unittest.cc

@@ -267,9 +267,7 @@ protected:
             .thrMid8 = 0,
             .thrExpo8 = 0,
             .rates = {0, 0, 0},
-            .tpa_rate = 0,
             .rcExpo[FD_YAW] = 0,
-            .tpa_breakpoint = 0
     };
 
     channelRange_t fullRange = {
@@ -295,8 +293,6 @@ protected:
         controlRateConfig.rates[0] = 0;
         controlRateConfig.rates[1] = 0;
         controlRateConfig.rates[2] = 0;
-        controlRateConfig.tpa_rate = 0;
-        controlRateConfig.tpa_breakpoint = 0;
 
         PG_RESET(adjustmentRanges);
         adjustmentRangesIndex = 0;
@@ -373,9 +369,7 @@ TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsWithRcRateFunctionSwitchUp
             .thrMid8 = 0,
             .thrExpo8 = 0,
             .rates = {0,0,0},
-            .tpa_rate = 0,
             .rcExpo[FD_YAW] = 0,
-            .tpa_breakpoint = 0
     };
 
     // and