Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-24 00:35:39 +03:00
Code Issues Wiki Activity

Allow TPA_LOW to be negative (for wings) (#13661)

Browse source 
* Allow TPA_LOW to be negative (for wings)

* Fix minimax type

Co-authored-by: Mark Haslinghuis <mark@numloq.nl>

* Range -128 to 127

Co-authored-by: Mark Haslinghuis <mark@numloq.nl>

* Proper limits for TPA

Co-authored-by: Jan Post <Rm2k-Freak@web.de>

* separate minmaxes for wing/without wing for TPA_LOW

Co-authored-by: Mark Haslinghuis <mark@numloq.nl>

* Separate define for TPA_LOW_RATE_MIN

---------

Co-authored-by: Mark Haslinghuis <mark@numloq.nl>
Co-authored-by: Jan Post <Rm2k-Freak@web.de>
This commit is contained in:
Ivan Efimov 2024-06-20 06:06:30 -04:00 • committed by GitHub
parent e2e1a68ba0
commit f140fec847
No known key found for this signature in database
GPG key ID: B5690EEEBB952194
3 changed files with 11 additions and 5 deletions
Download patch file Download diff file Expand all files Collapse all files

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

@ -1261,7 +1261,7 @@ const clivalue_t valueTable[] = {
#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_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, TPA_MAX}, PG_PID_PROFILE, offsetof(pidProfile_t, tpa_low_rate) },
{ 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) },
{ PARAM_NAME_TPA_LOW_BREAKPOINT, VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { PWM_RANGE_MIN, PWM_RANGE_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, tpa_low_breakpoint) },
{ PARAM_NAME_TPA_LOW_ALWAYS, VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_PID_PROFILE, offsetof(pidProfile_t, tpa_low_always) },

6
src/main/cms/cms_menu_imu.c
View file

@ -263,7 +263,7 @@ 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 uint8_t cmsx_tpa_low_rate;
static int8_t cmsx_tpa_low_rate;
static uint16_t cmsx_tpa_low_breakpoint;
static uint8_t cmsx_tpa_low_always;
@ -552,7 +552,7 @@ static uint8_t cmsx_feedforward_jitter_factor;
static uint8_t cmsx_tpa_rate;
static uint16_t cmsx_tpa_breakpoint;
static uint8_t cmsx_tpa_low_rate;
static int8_t cmsx_tpa_low_rate;
static uint16_t cmsx_tpa_low_breakpoint;
static uint8_t cmsx_tpa_low_always;
@ -725,7 +725,7 @@ static const OSD_Entry cmsx_menuProfileOtherEntries[] = {
{ "TPA RATE", 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} },
{ "TPA LOW RATE", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_tpa_low_rate, 0, 100, 1} },
{ "TPA LOW RATE", OME_INT8, NULL, &(OSD_INT8_t) { &cmsx_tpa_low_rate, TPA_LOW_RATE_MIN, TPA_MAX , 1} },
{ "TPA LOW BRKPT", OME_UINT16, NULL, &(OSD_UINT16_t){ &cmsx_tpa_low_breakpoint, 1000, 2000, 10} },
{ "TPA LOW ALWYS", OME_Bool, NULL, &cmsx_tpa_low_always },

8
src/main/flight/pid.h
View file

@ -70,6 +70,12 @@
#define TPA_MAX 100
#ifdef USE_WING
#define TPA_LOW_RATE_MIN INT8_MIN
#else
#define TPA_LOW_RATE_MIN 0
#endif
typedef enum {
TPA_MODE_PD,
TPA_MODE_D
@ -239,7 +245,7 @@ typedef struct pidProfile_s {
uint8_t angle_feedforward_smoothing_ms; // Smoothing factor for angle feedforward as time constant in milliseconds
uint8_t angle_earth_ref; // Control amount of "co-ordination" from yaw into roll while pitched forward in angle mode
uint16_t horizon_delay_ms; // delay when Horizon Strength increases, 50 = 500ms time constant
uint8_t tpa_low_rate; // Percent reduction in P or D at zero throttle
int8_t tpa_low_rate; // Percent reduction in P or D at zero throttle
uint16_t tpa_low_breakpoint; // Breakpoint where lower TPA is deactivated
uint8_t tpa_low_always; // off, on - if OFF then low TPA is only active until tpa_low_breakpoint is reached the first time