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Minor edit 

TPA acronym, spelling error
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Marc 2015-05-17 10:42:01 -04:00
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docs/PID tuning.md
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@ -31,9 +31,13 @@ set too high, the craft will oscillate (but with slower oscillations than with P
##TPA and TPA Breakpoint
TPA stands for Throttle PID Attenuation and according to [AlexYork.net](http://blog.alexyorke.net/what-is-tpa/):
> "TPA basically allows an aggressively tuned multi-rotor (one that feels very locked in) to reduce its PID gains when throttle is applied beyond the TPA threshold/breakpoint in order to eliminate fast oscillations.."
Note that TPA is set via CLI or on the PID TUNING tab of the GUI. tpa_breakpoint is set via CLI
Also note that TPA and tpa_breakpoint may not be used in certain PID Contorllers. Check the description on the individual controller.
Also note that TPA and tpa_breakpoint may not be used in certain PID Controllers. Check the description on the individual controller.
TPA applies a PID value reduction in relation to full Throttle. It is used to apply dampening of PID values as full throttle is reached.