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Make TPA configurable to affect P/D or D only

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Adds a new `tpa_mode` parameter that accepts `PD` (default) and `D`. Allows the user to configer to affect P/D as it always has, or switch to D-only mode.

Note: the `tpa_mode` parameter was added to the PID Profile instead of rate profiles with the other TPA parameters. This can be discussed, but I didn't think it made sense to have this be part of rate profiles as it affects PID tuning (the same argument could be made for the other TPA parameters).

Code is wrapped in `USE_TPA_MODE` so it can be disabled if needed.
This commit is contained in:
Bruce Luckcuck 2018-11-08 19:22:29 -05:00
parent 49e2c4d312
commit fc189e5850
5 changed files with 39 additions and 1 deletions
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17
src/main/flight/pid.c
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@ -175,6 +175,7 @@ void resetPidProfile(pidProfile_t *pidProfile)
.launchControlAngleLimit = 0,
.launchControlGain = 40,
.launchControlAllowTriggerReset = true,
.tpaMode = TPA_MODE_PD,
);
#ifdef USE_DYN_LPF
pidProfile->dterm_lowpass_hz = 120;
@ -434,6 +435,10 @@ static FAST_RAM_ZERO_INIT uint8_t launchControlAngleLimit;
static FAST_RAM_ZERO_INIT float launchControlKi;
#endif
#ifdef USE_TPA_MODE
static FAST_RAM_ZERO_INIT uint8_t tpaMode;
#endif
void pidResetIterm(void)
{
for (int axis = 0; axis < 3; axis++) {
@ -576,6 +581,10 @@ void pidInitConfig(const pidProfile_t *pidProfile)
}
launchControlKi = ITERM_SCALE * pidProfile->launchControlGain;
#endif
#ifdef USE_TPA_MODE
tpaMode = pidProfile->tpaMode;
#endif
}
void pidInit(const pidProfile_t *pidProfile)
@ -1048,6 +1057,12 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, const rollAndPitchT
const float tpaFactor = getThrottlePIDAttenuation();
#ifdef USE_TPA_MODE
const float tpaFactorKp = (tpaMode == TPA_MODE_PD) ? tpaFactor : 1.0f;
#else
const float tpaFactorKp = tpaFactor;
#endif
#ifdef USE_YAW_SPIN_RECOVERY
const bool yawSpinActive = gyroYawSpinDetected();
#endif
@ -1145,7 +1160,7 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, const rollAndPitchT
// b = 1 and only c (feedforward weight) can be tuned (amount derivative on measurement or error).
// -----calculate P component
pidData[axis].P = pidCoefficient[axis].Kp * errorRate * tpaFactor;
pidData[axis].P = pidCoefficient[axis].Kp * errorRate * tpaFactorKp;
if (axis == FD_YAW) {
pidData[axis].P = ptermYawLowpassApplyFn((filter_t *) &ptermYawLowpass, pidData[axis].P);
}