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Merged
DzikuVx merged 3 commits into from
May 11, 2022
Merged

Added Fixed Wing TPA Time Constant to in flight adjustments #8023

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58d2648
Added Fixed Wing TPA Time Constant to adjustments
MrD-RC May 10, 2022
dcb871d
Updated docs
MrD-RC May 11, 2022
7248719
Updated default value.
MrD-RC May 11, 2022
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1 change: 1 addition & 0 deletions docs/Inflight Adjustments.md
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Expand Up @@ -158,6 +158,7 @@ this reason ensure that you define enough ranges to cover the range channel's us
| 54 | TPA |
| 55 | TPA_BREAKPOINT |
| 56 | NAV_FW_CONTROL_SMOOTHNESS |
| 57 | FW_TPA_TIME_CONSTANT |

## Examples

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4 changes: 2 additions & 2 deletions docs/Settings.md
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Expand Up @@ -1374,11 +1374,11 @@ Reference airspeed. Set this to airspeed at which PIDs were tuned. Usually shoul

### fw_tpa_time_constant

TPA smoothing and delay time constant to reflect non-instant speed/throttle response of the plane. Planes with low thrust/weight ratio generally need higher time constant. Default is zero for compatibility with old setups
TPA smoothing and delay time constant to reflect non-instant speed/throttle response of the plane. See **PID Attenuation and scaling** Wiki for full details.

| Default | Min | Max |
| --- | --- | --- |
| 0 | 0 | 5000 |
| 1500 | 0 | 5000 |

---

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7 changes: 7 additions & 0 deletions src/main/fc/rc_adjustments.c
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Expand Up @@ -289,6 +289,10 @@ static const adjustmentConfig_t defaultAdjustmentConfigs[ADJUSTMENT_FUNCTION_COU
.adjustmentFunction = ADJUSTMENT_NAV_FW_CONTROL_SMOOTHNESS,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 1 }}
}, {
.adjustmentFunction = ADJUSTMENT_FW_TPA_TIME_CONSTANT,
.mode = ADJUSTMENT_MODE_STEP,
.data = { .stepConfig = { .step = 5 }}
}
};

Expand Down Expand Up @@ -597,6 +601,9 @@ static void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t
case ADJUSTMENT_TPA_BREAKPOINT:
applyAdjustmentU16(ADJUSTMENT_TPA_BREAKPOINT, &controlRateConfig->throttle.pa_breakpoint, delta, PWM_RANGE_MIN, PWM_RANGE_MAX);
break;
case ADJUSTMENT_FW_TPA_TIME_CONSTANT:
applyAdjustmentU16(ADJUSTMENT_FW_TPA_TIME_CONSTANT, &controlRateConfig->throttle.fixedWingTauMs, delta, SETTING_FW_TPA_TIME_CONSTANT_MIN, SETTING_FW_TPA_TIME_CONSTANT_MAX);
break;
case ADJUSTMENT_NAV_FW_CONTROL_SMOOTHNESS:
applyAdjustmentU8(ADJUSTMENT_NAV_FW_CONTROL_SMOOTHNESS, &navConfigMutable()->fw.control_smoothness, delta, SETTING_NAV_FW_CONTROL_SMOOTHNESS_MIN, SETTING_NAV_FW_CONTROL_SMOOTHNESS_MAX);
break;
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113 changes: 57 additions & 56 deletions src/main/fc/rc_adjustments.h
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Expand Up @@ -25,63 +25,64 @@
//#define USE_INFLIGHT_PROFILE_ADJUSTMENT - not currently enabled

typedef enum {
ADJUSTMENT_NONE = 0,
ADJUSTMENT_RC_RATE = 1,
ADJUSTMENT_RC_EXPO = 2,
ADJUSTMENT_THROTTLE_EXPO = 3,
ADJUSTMENT_PITCH_ROLL_RATE = 4,
ADJUSTMENT_YAW_RATE = 5,
ADJUSTMENT_PITCH_ROLL_P = 6,
ADJUSTMENT_PITCH_ROLL_I = 7,
ADJUSTMENT_PITCH_ROLL_D = 8,
ADJUSTMENT_PITCH_ROLL_FF = 9,
ADJUSTMENT_PITCH_P = 10,
ADJUSTMENT_PITCH_I = 11,
ADJUSTMENT_PITCH_D = 12,
ADJUSTMENT_PITCH_FF = 13,
ADJUSTMENT_ROLL_P = 14,
ADJUSTMENT_ROLL_I = 15,
ADJUSTMENT_ROLL_D = 16,
ADJUSTMENT_ROLL_FF = 17,
ADJUSTMENT_YAW_P = 18,
ADJUSTMENT_YAW_I = 19,
ADJUSTMENT_YAW_D = 20,
ADJUSTMENT_YAW_FF = 21,
ADJUSTMENT_RATE_PROFILE = 22, // Unused, placeholder for compatibility
ADJUSTMENT_PITCH_RATE = 23,
ADJUSTMENT_ROLL_RATE = 24,
ADJUSTMENT_RC_YAW_EXPO = 25,
ADJUSTMENT_MANUAL_RC_EXPO = 26,
ADJUSTMENT_MANUAL_RC_YAW_EXPO = 27,
ADJUSTMENT_MANUAL_PITCH_ROLL_RATE = 28,
ADJUSTMENT_MANUAL_ROLL_RATE = 29,
ADJUSTMENT_MANUAL_PITCH_RATE = 30,
ADJUSTMENT_MANUAL_YAW_RATE = 31,
ADJUSTMENT_NAV_FW_CRUISE_THR = 32,
ADJUSTMENT_NAV_FW_PITCH2THR = 33,
ADJUSTMENT_ROLL_BOARD_ALIGNMENT = 34,
ADJUSTMENT_PITCH_BOARD_ALIGNMENT = 35,
ADJUSTMENT_LEVEL_P = 36,
ADJUSTMENT_LEVEL_I = 37,
ADJUSTMENT_LEVEL_D = 38,
ADJUSTMENT_POS_XY_P = 39,
ADJUSTMENT_POS_XY_I = 40,
ADJUSTMENT_POS_XY_D = 41,
ADJUSTMENT_POS_Z_P = 42,
ADJUSTMENT_POS_Z_I = 43,
ADJUSTMENT_POS_Z_D = 44,
ADJUSTMENT_HEADING_P = 45,
ADJUSTMENT_VEL_XY_P = 46,
ADJUSTMENT_VEL_XY_I = 47,
ADJUSTMENT_VEL_XY_D = 48,
ADJUSTMENT_VEL_Z_P = 49,
ADJUSTMENT_VEL_Z_I = 50,
ADJUSTMENT_VEL_Z_D = 51,
ADJUSTMENT_NONE = 0,
ADJUSTMENT_RC_RATE = 1,
ADJUSTMENT_RC_EXPO = 2,
ADJUSTMENT_THROTTLE_EXPO = 3,
ADJUSTMENT_PITCH_ROLL_RATE = 4,
ADJUSTMENT_YAW_RATE = 5,
ADJUSTMENT_PITCH_ROLL_P = 6,
ADJUSTMENT_PITCH_ROLL_I = 7,
ADJUSTMENT_PITCH_ROLL_D = 8,
ADJUSTMENT_PITCH_ROLL_FF = 9,
ADJUSTMENT_PITCH_P = 10,
ADJUSTMENT_PITCH_I = 11,
ADJUSTMENT_PITCH_D = 12,
ADJUSTMENT_PITCH_FF = 13,
ADJUSTMENT_ROLL_P = 14,
ADJUSTMENT_ROLL_I = 15,
ADJUSTMENT_ROLL_D = 16,
ADJUSTMENT_ROLL_FF = 17,
ADJUSTMENT_YAW_P = 18,
ADJUSTMENT_YAW_I = 19,
ADJUSTMENT_YAW_D = 20,
ADJUSTMENT_YAW_FF = 21,
ADJUSTMENT_RATE_PROFILE = 22, // Unused, placeholder for compatibility
ADJUSTMENT_PITCH_RATE = 23,
ADJUSTMENT_ROLL_RATE = 24,
ADJUSTMENT_RC_YAW_EXPO = 25,
ADJUSTMENT_MANUAL_RC_EXPO = 26,
ADJUSTMENT_MANUAL_RC_YAW_EXPO = 27,
ADJUSTMENT_MANUAL_PITCH_ROLL_RATE = 28,
ADJUSTMENT_MANUAL_ROLL_RATE = 29,
ADJUSTMENT_MANUAL_PITCH_RATE = 30,
ADJUSTMENT_MANUAL_YAW_RATE = 31,
ADJUSTMENT_NAV_FW_CRUISE_THR = 32,
ADJUSTMENT_NAV_FW_PITCH2THR = 33,
ADJUSTMENT_ROLL_BOARD_ALIGNMENT = 34,
ADJUSTMENT_PITCH_BOARD_ALIGNMENT = 35,
ADJUSTMENT_LEVEL_P = 36,
ADJUSTMENT_LEVEL_I = 37,
ADJUSTMENT_LEVEL_D = 38,
ADJUSTMENT_POS_XY_P = 39,
ADJUSTMENT_POS_XY_I = 40,
ADJUSTMENT_POS_XY_D = 41,
ADJUSTMENT_POS_Z_P = 42,
ADJUSTMENT_POS_Z_I = 43,
ADJUSTMENT_POS_Z_D = 44,
ADJUSTMENT_HEADING_P = 45,
ADJUSTMENT_VEL_XY_P = 46,
ADJUSTMENT_VEL_XY_I = 47,
ADJUSTMENT_VEL_XY_D = 48,
ADJUSTMENT_VEL_Z_P = 49,
ADJUSTMENT_VEL_Z_I = 50,
ADJUSTMENT_VEL_Z_D = 51,
ADJUSTMENT_FW_MIN_THROTTLE_DOWN_PITCH_ANGLE = 52,
ADJUSTMENT_VTX_POWER_LEVEL = 53,
ADJUSTMENT_TPA = 54,
ADJUSTMENT_TPA_BREAKPOINT = 55,
ADJUSTMENT_NAV_FW_CONTROL_SMOOTHNESS = 56,
ADJUSTMENT_VTX_POWER_LEVEL = 53,
ADJUSTMENT_TPA = 54,
ADJUSTMENT_TPA_BREAKPOINT = 55,
ADJUSTMENT_NAV_FW_CONTROL_SMOOTHNESS = 56,
ADJUSTMENT_FW_TPA_TIME_CONSTANT = 57,
ADJUSTMENT_FUNCTION_COUNT // must be last
} adjustmentFunction_e;

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4 changes: 2 additions & 2 deletions src/main/fc/settings.yaml
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Expand Up @@ -1355,8 +1355,8 @@ groups:
min: PWM_RANGE_MIN
max: PWM_RANGE_MAX
- name: fw_tpa_time_constant
description: "TPA smoothing and delay time constant to reflect non-instant speed/throttle response of the plane. Planes with low thrust/weight ratio generally need higher time constant. Default is zero for compatibility with old setups"
default_value: 0
description: "TPA smoothing and delay time constant to reflect non-instant speed/throttle response of the plane. See **PID Attenuation and scaling** Wiki for full details."
default_value: 1500
field: throttle.fixedWingTauMs
min: 0
max: 5000
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20 changes: 20 additions & 0 deletions src/main/io/osd.c
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Expand Up @@ -3017,6 +3017,26 @@ static bool osdDrawSingleElement(uint8_t item)

return true;
}
case OSD_TPA_TIME_CONSTANT:
{
/* char buff[7];
textAttributes_t attr;

if (isAdjustmentFunctionSelected(ADJUSTMENT_FW_TPA_TIME_CONSTANT)) {
displayWrite(osdDisplayPort, elemPosX, elemPosY, "TC OK");
} else {
displayWrite(osdDisplayPort, elemPosX, elemPosY, "TPA TC");
}

attr = TEXT_ATTRIBUTES_NONE;
tfp_sprintf(buff, "%4d", currentControlRateProfile->throttle.fixedWingTauMs);
if (isAdjustmentFunctionSelected(ADJUSTMENT_FW_TPA_TIME_CONSTANT)) {
TEXT_ATTRIBUTES_ADD_BLINK(attr);
}
displayWriteWithAttr(osdDisplayPort, elemPosX + 7, elemPosY, buff, attr);*/
osdDisplayAdjustableDecimalValue(elemPosX, elemPosY, "TPA TC", 0, currentControlRateProfile->throttle.fixedWingTauMs, 4, 0, ADJUSTMENT_FW_TPA_TIME_CONSTANT);
return true;
}

case OSD_NAV_FW_CONTROL_SMOOTHNESS:
osdDisplayAdjustableDecimalValue(elemPosX, elemPosY, "CTL S", 0, navConfig()->fw.control_smoothness, 1, 0, ADJUSTMENT_NAV_FW_CONTROL_SMOOTHNESS);
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1 change: 1 addition & 0 deletions src/main/io/osd.h
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Expand Up @@ -257,6 +257,7 @@ typedef enum {
OSD_SWITCH_INDICATOR_1,
OSD_SWITCH_INDICATOR_2,
OSD_SWITCH_INDICATOR_3,
OSD_TPA_TIME_CONSTANT,
OSD_ITEM_COUNT // MUST BE LAST
} osd_items_e;

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