TPA calculation fixes; Force re-calculation of PIDs when they are changed by MSP or adjustments

src/main/fc/fc_msp.c

@@ -1131,6 +1131,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
         break;
 
     case MSP_SET_PID:
+        signalRequiredPIDCoefficientsUpdate();
         for (i = 0; i < PID_ITEM_COUNT; i++) {
             currentProfile->pidProfile.P8[i] = sbufReadU8(src);
             currentProfile->pidProfile.I8[i] = sbufReadU8(src);
@@ -1200,6 +1201,8 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
             if (dataSize >= 11) {
                 currentControlRateProfile->rcYawExpo8 = sbufReadU8(src);
             }
+
+            signalRequiredPIDCoefficientsUpdate();
         } else {
             return MSP_RESULT_ERROR;
         }

src/main/fc/rc_controls.c

@@ -527,6 +527,7 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
             controlRateConfig->rates[FD_PITCH] = newValue;
             blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_RATE, newValue);
             if (adjustmentFunction == ADJUSTMENT_PITCH_RATE) {
+                signalRequiredPIDCoefficientsUpdate();
                 break;
             }
             // follow though for combined ADJUSTMENT_PITCH_ROLL_RATE
@@ -534,11 +535,13 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
             newValue = constrain((int)controlRateConfig->rates[FD_ROLL] + delta, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MIN, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
             controlRateConfig->rates[FD_ROLL] = newValue;
             blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_RATE, newValue);
+            signalRequiredPIDCoefficientsUpdate();
             break;
         case ADJUSTMENT_YAW_RATE:
             newValue = constrain((int)controlRateConfig->rates[FD_YAW] + delta, CONTROL_RATE_CONFIG_YAW_RATE_MIN, CONTROL_RATE_CONFIG_YAW_RATE_MAX);
             controlRateConfig->rates[FD_YAW] = newValue;
             blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_RATE, newValue);
+            signalRequiredPIDCoefficientsUpdate();
             break;
         case ADJUSTMENT_PITCH_ROLL_P:
         case ADJUSTMENT_PITCH_P:
@@ -546,6 +549,7 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
             pidProfile->P8[PIDPITCH] = newValue;
             blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_P, newValue);
             if (adjustmentFunction == ADJUSTMENT_PITCH_P) {
+                signalRequiredPIDCoefficientsUpdate();
                 break;
             }
             // follow though for combined ADJUSTMENT_PITCH_ROLL_P
@@ -553,6 +557,7 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
             newValue = constrain((int)pidProfile->P8[PIDROLL] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
             pidProfile->P8[PIDROLL] = newValue;
             blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_P, newValue);
+            signalRequiredPIDCoefficientsUpdate();
             break;
         case ADJUSTMENT_PITCH_ROLL_I:
         case ADJUSTMENT_PITCH_I:
@@ -560,6 +565,7 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
             pidProfile->I8[PIDPITCH] = newValue;
             blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_I, newValue);
             if (adjustmentFunction == ADJUSTMENT_PITCH_I) {
+                signalRequiredPIDCoefficientsUpdate();
                 break;
             }
             // follow though for combined ADJUSTMENT_PITCH_ROLL_I
@@ -567,6 +573,7 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
             newValue = constrain((int)pidProfile->I8[PIDROLL] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
             pidProfile->I8[PIDROLL] = newValue;
             blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_I, newValue);
+            signalRequiredPIDCoefficientsUpdate();
             break;
         case ADJUSTMENT_PITCH_ROLL_D:
         case ADJUSTMENT_PITCH_D:
@@ -574,6 +581,7 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
             pidProfile->D8[PIDPITCH] = newValue;
             blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_D, newValue);
             if (adjustmentFunction == ADJUSTMENT_PITCH_D) {
+                signalRequiredPIDCoefficientsUpdate();
                 break;
             }
             // follow though for combined ADJUSTMENT_PITCH_ROLL_D
@@ -581,21 +589,25 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
             newValue = constrain((int)pidProfile->D8[PIDROLL] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
             pidProfile->D8[PIDROLL] = newValue;
             blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_D, newValue);
+            signalRequiredPIDCoefficientsUpdate();
             break;
         case ADJUSTMENT_YAW_P:
             newValue = constrain((int)pidProfile->P8[PIDYAW] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
             pidProfile->P8[PIDYAW] = newValue;
             blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_P, newValue);
+            signalRequiredPIDCoefficientsUpdate();
             break;
         case ADJUSTMENT_YAW_I:
             newValue = constrain((int)pidProfile->I8[PIDYAW] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
             pidProfile->I8[PIDYAW] = newValue;
             blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_I, newValue);
+            signalRequiredPIDCoefficientsUpdate();
             break;
         case ADJUSTMENT_YAW_D:
             newValue = constrain((int)pidProfile->D8[PIDYAW] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
             pidProfile->D8[PIDYAW] = newValue;
             blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_D, newValue);
+            signalRequiredPIDCoefficientsUpdate();
             break;
         default:
             break;

src/main/flight/pid.c

@@ -91,6 +91,7 @@ int16_t magHoldTargetHeading;
 static pt1Filter_t magHoldRateFilter;
 
 // Thrust PID Attenuation factor. 0.0f means fully attenuated, 1.0f no attenuation is applied
+static bool shouldUpdatePIDCoeffs = false;
 static float tpaFactor;
 int16_t axisPID[FLIGHT_DYNAMICS_INDEX_COUNT];
 
@@ -160,19 +161,23 @@ FP-PID has been rescaled to match LuxFloat (and MWRewrite) from Cleanflight 1.13
 #define FP_PID_LEVEL_P_MULTIPLIER   65.6f
 #define FP_PID_YAWHOLD_P_MULTIPLIER 80.0f
 
+void signalRequiredPIDCoefficientsUpdate(void)
+{
+    shouldUpdatePIDCoeffs = true;
+}
+
 void updatePIDCoefficients(const pidProfile_t *pidProfile, const controlRateConfig_t *controlRateConfig, const struct motorConfig_s *motorConfig)
 {
     static uint16_t prevThrottle = 0;
-    bool shouldUpdateCoeffs = false;
 
     // Check if throttle changed
     if (rcCommand[THROTTLE] != prevThrottle) {
         prevThrottle = rcCommand[THROTTLE];
-        shouldUpdateCoeffs = true;
+        signalRequiredPIDCoefficientsUpdate();
     }
 
     // If nothing changed - don't waste time recalculating coefficients
-    if (!shouldUpdateCoeffs) {
+    if (!shouldUpdatePIDCoeffs) {
         return;
     }
 
@@ -180,9 +185,14 @@ void updatePIDCoefficients(const pidProfile_t *pidProfile, const controlRateConf
     if (STATE(FIXED_WING)) {
         // tpa_rate is ignored for fixed wings, set to non-zero to enable TPA
         // tpa_breakpoint for fixed wing is cruise throttle value (value at which PIDs were tuned)
-        if (controlRateConfig->dynThrPID != 0 && rcCommand[THROTTLE] > motorConfig->minthrottle && controlRateConfig->tpa_breakpoint > motorConfig->minthrottle) {
+        if (controlRateConfig->dynThrPID != 0 && controlRateConfig->tpa_breakpoint > motorConfig->minthrottle) {
-            tpaFactor = 0.5f + ((controlRateConfig->tpa_breakpoint - motorConfig->minthrottle) / (rcCommand[THROTTLE] - motorConfig->minthrottle) / 2.0f);
+            if (rcCommand[THROTTLE] > motorConfig->minthrottle) {
-            tpaFactor = constrainf(tpaFactor, 0.6f, 1.67f);
+                tpaFactor = 0.5f + ((controlRateConfig->tpa_breakpoint - motorConfig->minthrottle) / (rcCommand[THROTTLE] - motorConfig->minthrottle) / 2.0f);
+                tpaFactor = constrainf(tpaFactor, 0.6f, 1.67f);
+            }
+            else {
+                tpaFactor = 1.67f;
+            }
         }
         else {
             tpaFactor = 1.0f;
@@ -227,6 +237,8 @@ void updatePIDCoefficients(const pidProfile_t *pidProfile, const controlRateConf
             pidState[axis].kT = 0;
         }
     }
+
+    shouldUpdatePIDCoeffs = false;
 }
 
 static void pidApplyHeadingLock(const pidProfile_t *pidProfile, pidState_t *pidState)

src/main/flight/pid.h

@@ -85,6 +85,7 @@ struct controlRateConfig_s;
 struct motorConfig_s;
 struct rxConfig_s;
 
+void signalRequiredPIDCoefficientsUpdate(void);
 void updatePIDCoefficients(const pidProfile_t *pidProfile, const struct controlRateConfig_s *controlRateConfig, const struct motorConfig_s *motorConfig);
 void pidController(const pidProfile_t *pidProfile, const struct controlRateConfig_s *controlRateConfig, const struct rxConfig_s *rxConfig);