Move parameter from PID profile to rate profile

src/main/fc/controlrate_profile.c

@@ -61,7 +61,8 @@ void pgResetFn_controlRateProfiles(controlRateConfig_t *controlRateConfig)
             .throttle_limit_percent = 100,
             .rate_limit[FD_ROLL] = CONTROL_RATE_CONFIG_RATE_LIMIT_MAX,
             .rate_limit[FD_PITCH] = CONTROL_RATE_CONFIG_RATE_LIMIT_MAX,
-            .rate_limit[FD_YAW] = CONTROL_RATE_CONFIG_RATE_LIMIT_MAX
+            .rate_limit[FD_YAW] = CONTROL_RATE_CONFIG_RATE_LIMIT_MAX,
+            .tpaMode = TPA_MODE_PD,
         );
     }
 }

src/main/fc/controlrate_profile.h

@@ -37,6 +37,12 @@ typedef enum {
     THROTTLE_LIMIT_TYPE_CLIP,
 } throttleLimitType_e;
 
+
+typedef enum {
+    TPA_MODE_PD,
+    TPA_MODE_D
+} tpaMode_e;
+
 typedef struct controlRateConfig_s {
     uint8_t thrMid8;
     uint8_t thrExpo8;
@@ -49,6 +55,7 @@ typedef struct controlRateConfig_s {
     uint8_t throttle_limit_type;            // Sets the throttle limiting type - off, scale or clip
     uint8_t throttle_limit_percent;         // Sets the maximum pilot commanded throttle limit
     uint16_t rate_limit[3];                 // Sets the maximum rate for the axes
+    uint8_t tpaMode;                        // Controls which PID terms TPA effects
 } controlRateConfig_t;
 
 PG_DECLARE_ARRAY(controlRateConfig_t, CONTROL_RATE_PROFILE_COUNT, controlRateProfiles);

src/main/flight/pid.c

@@ -39,6 +39,7 @@
 #include "drivers/sound_beeper.h"
 #include "drivers/time.h"
 
+#include "fc/controlrate_profile.h"
 #include "fc/core.h"
 #include "fc/rc.h"
 
@@ -175,7 +176,6 @@ void resetPidProfile(pidProfile_t *pidProfile)
         .launchControlAngleLimit = 0,
         .launchControlGain = 40,
         .launchControlAllowTriggerReset = true,
-        .tpaMode = TPA_MODE_PD,
     );
 #ifdef USE_DYN_LPF
     pidProfile->dterm_lowpass_hz = 120;
@@ -435,10 +435,6 @@ static FAST_RAM_ZERO_INIT uint8_t launchControlAngleLimit;
 static FAST_RAM_ZERO_INIT float launchControlKi;
 #endif
 
-#ifdef USE_TPA_MODE
-static FAST_RAM_ZERO_INIT uint8_t tpaMode;
-#endif
-
 void pidResetIterm(void)
 {
     for (int axis = 0; axis < 3; axis++) {
@@ -581,10 +577,6 @@ void pidInitConfig(const pidProfile_t *pidProfile)
     }
     launchControlKi = ITERM_SCALE * pidProfile->launchControlGain;
 #endif
-
-#ifdef USE_TPA_MODE
-    tpaMode = pidProfile->tpaMode;
-#endif
 }
 
 void pidInit(const pidProfile_t *pidProfile)
@@ -1058,7 +1050,7 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, const rollAndPitchT
     const float tpaFactor = getThrottlePIDAttenuation();
 
 #ifdef USE_TPA_MODE
-    const float tpaFactorKp = (tpaMode == TPA_MODE_PD) ? tpaFactor : 1.0f;
+    const float tpaFactorKp = (currentControlRateProfile->tpaMode == TPA_MODE_PD) ? tpaFactor : 1.0f;
 #else
     const float tpaFactorKp = tpaFactor;
 #endif

src/main/flight/pid.h

@@ -97,11 +97,6 @@ typedef enum {
     ITERM_RELAX_SETPOINT
 } itermRelaxType_e;
 
-typedef enum {
-    TPA_MODE_PD,
-    TPA_MODE_D
-} tpaMode_e;
-
 typedef struct pidProfile_s {
     uint16_t yaw_lowpass_hz;                // Additional yaw filter when yaw axis too noisy
     uint16_t dterm_lowpass_hz;              // Delta Filter in hz
@@ -161,7 +156,6 @@ typedef struct pidProfile_s {
     uint8_t launchControlAngleLimit;        // Optional launch control angle limit (requires ACC)
     uint8_t launchControlGain;              // Iterm gain used while launch control is active
     uint8_t launchControlAllowTriggerReset; // Controls trigger behavior and whether the trigger can be reset
-    uint8_t tpaMode;                        // Controls which PID terms TPA effects
 } pidProfile_t;
 
 PG_DECLARE_ARRAY(pidProfile_t, MAX_PROFILE_COUNT, pidProfiles);

src/main/interface/settings.c

@@ -787,6 +787,9 @@ const clivalue_t valueTable[] = {
     { "yaw_srate",                  VAR_UINT8  | PROFILE_RATE_VALUE, .config.minmax = { 0, CONTROL_RATE_CONFIG_RATE_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rates[FD_YAW]) },
     { "tpa_rate",                   VAR_UINT8  | PROFILE_RATE_VALUE, .config.minmax = { 0, CONTROL_RATE_CONFIG_TPA_MAX}, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, dynThrPID) },
     { "tpa_breakpoint",             VAR_UINT16 | PROFILE_RATE_VALUE, .config.minmax = { PWM_PULSE_MIN, PWM_PULSE_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, tpa_breakpoint) },
+#ifdef USE_TPA_MODE
+    { "tpa_mode",                   VAR_UINT8  | PROFILE_RATE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_TPA_MODE }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, tpaMode) },
+#endif
     { "throttle_limit_type",        VAR_UINT8  | PROFILE_RATE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_THROTTLE_LIMIT_TYPE }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, throttle_limit_type) },
     { "throttle_limit_percent",     VAR_UINT8  | PROFILE_RATE_VALUE, .config.minmax = { 25, 100 }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, throttle_limit_percent) },
     { "roll_rate_limit",            VAR_UINT16 | PROFILE_RATE_VALUE, .config.minmax = { CONTROL_RATE_CONFIG_RATE_LIMIT_MIN, CONTROL_RATE_CONFIG_RATE_LIMIT_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rate_limit[FD_ROLL]) },
@@ -938,10 +941,6 @@ const clivalue_t valueTable[] = {
     { "launch_control_gain",        VAR_UINT8 | PROFILE_VALUE,  .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, launchControlGain) },
 #endif
 
-#ifdef USE_TPA_MODE
-    { "tpa_mode",                   VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_TPA_MODE }, PG_PID_PROFILE, offsetof(pidProfile_t, tpaMode) },
-#endif
-
 // PG_TELEMETRY_CONFIG
 #ifdef USE_TELEMETRY
     { "tlm_inverted",               VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_TELEMETRY_CONFIG, offsetof(telemetryConfig_t, telemetry_inverted) },