Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-24 16:55:36 +03:00
Code Issues Wiki Activity

Move TPA to PID profile

Browse source
This commit is contained in:
Mark Haslinghuis 2022-08-07 01:10:17 +02:00
parent d1bf5db33e
commit f7547192b1
11 changed files with 59 additions and 42 deletions
Download patch file Download diff file Expand all files Collapse all files

14
src/main/flight/pid.h
View file

@ -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;