rusefi
/
atbetaflight
mirror of https://github.com/rusefi/atbetaflight.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Update Rates Expo TPA.md

This commit is contained in:
Dave Pitman 2015-02-02 11:45:38 -08:00
parent 1cbdf89cf1
commit 6be883a392
1 changed files with 0 additions and 16 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
docs/Rates Expo TPA.md
View File

@ -25,20 +25,4 @@ The most sensitive at the center of the inputs is 0 Expo.
These values affect mostly the endpoints of the input. For example, If the over all control of the aircraft is good, i.e you have your RC Rates dialed in, but extreme enpoint controls need to be faster or slower, like for aerobatics, then these rates can be used to increase the response withoug effecting the center of the input ranges as much.
##TPA and TPA Breakpoint
* Note that TPA is set via CLI or on the PID TUNING tab of the GUI. tpa_breakpoint is set via CLI
TPA applies a 'P' value reduction in relation to full Throttle. It is used to 'soften' the P value at extream throttle which sometimes induces oscellation in the aircraft.
An Example: With TPA = 50 (or .5 in the GUI) and tpa_breakpoint = 1500
At full throttle, your P value is reduced by 50%
at 3/4 throttle (say 1750), your P value is reduced by 25% (1/2 the differnce of 1500 and 2000 = 1/2 of 50% = 25%)
at half throttle (1500), your P vallue is reduced by ~0
So how do you use this?
If you're getting oscillations starting at say 3/4 throttle, set tpa breakpoint = 1750 or lower (remember, this is assuming your throttle range is 1000-2000), and then slowly increase TPA until your oscillations are gone. Usually, you will want tpa breakpoint to start a little sooner then when your oscillations start so you'll want to experiment with the values to reduce/remove the oscillations.
In theory, this should allow you to bump your PIDs a tiny bit more because now you can focus your PID tune to how you fly and not have to worry about bringing it down some to compensate for high throttle oscillations.