Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-19 22:35:23 +03:00
Code Issues Wiki Activity

Make TPA configurable to affect P/D or D only

Browse source 
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
Download patch file Download diff file Expand all files Collapse all files

13
src/main/interface/settings.c
View file

@ -407,6 +407,12 @@ static const char * const lookupTableLaunchControlMode[] = {
};
#endif
#ifdef USE_TPA_MODE
static const char * const lookupTableTpaMode[] = {
"PD", "D"
};
#endif
#define LOOKUP_TABLE_ENTRY(name) { name, ARRAYLEN(name) }
const lookupTableEntry_t lookupTables[] = {
@ -510,6 +516,9 @@ const lookupTableEntry_t lookupTables[] = {
#ifdef USE_LAUNCH_CONTROL
LOOKUP_TABLE_ENTRY(lookupTableLaunchControlMode),
#endif
#ifdef USE_TPA_MODE
LOOKUP_TABLE_ENTRY(lookupTableTpaMode),
#endif
};
#undef LOOKUP_TABLE_ENTRY
@ -929,6 +938,10 @@ const clivalue_t valueTable[] = {
{ "launch_control_gain", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, launchControlGain) },
#endif
#ifdef USE_TPA_MODE
{ "tpa_mode", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_TPA_MODE }, PG_PID_PROFILE, offsetof(pidProfile_t, tpaMode) },
#endif
// PG_TELEMETRY_CONFIG
#ifdef USE_TELEMETRY
{ "tlm_inverted", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_TELEMETRY_CONFIG, offsetof(telemetryConfig_t, telemetry_inverted) },