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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.
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

View file

@ -125,6 +125,9 @@ typedef enum {
#endif
#ifdef USE_LAUNCH_CONTROL
TABLE_LAUNCH_CONTROL_MODE,
#endif
#ifdef USE_TPA_MODE
TABLE_TPA_MODE,
#endif
LOOKUP_TABLE_COUNT
} lookupTableIndex_e;