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Make TPA configurable to affect P/D or D only
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.
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5 changed files with 39 additions and 1 deletions
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@ -125,6 +125,9 @@ typedef enum {
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#endif
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#ifdef USE_LAUNCH_CONTROL
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TABLE_LAUNCH_CONTROL_MODE,
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#endif
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#ifdef USE_TPA_MODE
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TABLE_TPA_MODE,
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#endif
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LOOKUP_TABLE_COUNT
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} lookupTableIndex_e;
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