From 74a54d81dd06e37c8e0be509efb7d7bb6e8646a6 Mon Sep 17 00:00:00 2001
From: Johannes Kasberger <schugabe@gmx.at>
Date: Mon, 7 Apr 2014 22:52:32 +0200
Subject: [PATCH 1/2] Added options to allow further TPA configuration

Replaced define BREAKPOINT with cfg option
Added tpa and tpa_breakpoint to cli
---
 src/cli.c    | 2 ++
 src/config.c | 1 +
 src/mw.c     | 6 ++----
 src/mw.h     | 1 +
 4 files changed, 6 insertions(+), 4 deletions(-)

diff --git a/src/cli.c b/src/cli.c
index b3a160671..aab69f04c 100644
--- a/src/cli.c
+++ b/src/cli.c
@@ -164,6 +164,8 @@ const clivalue_t valueTable[] = {
     { "thr_expo", VAR_UINT8, &cfg.thrExpo8, 0, 100 },
     { "roll_pitch_rate", VAR_UINT8, &cfg.rollPitchRate, 0, 100 },
     { "yawrate", VAR_UINT8, &cfg.yawRate, 0, 100 },
+    { "tparate", VAR_UINT8, &cfg.dynThrPID, 0, 100},
+    { "tpa_breakpoint", VAR_UINT16, &cfg.tpaBreakPoint, 1000, 2000},
     { "failsafe_delay", VAR_UINT8, &cfg.failsafe_delay, 0, 200 },
     { "failsafe_off_delay", VAR_UINT8, &cfg.failsafe_off_delay, 0, 200 },
     { "failsafe_throttle", VAR_UINT16, &cfg.failsafe_throttle, 1000, 2000 },
diff --git a/src/config.c b/src/config.c
index f566f2c2c..90353446b 100755
--- a/src/config.c
+++ b/src/config.c
@@ -255,6 +255,7 @@ static void resetConf(void)
     cfg.rollPitchRate = 0;
     cfg.yawRate = 0;
     cfg.dynThrPID = 0;
+    cfg.tpaBreakPoint = 1500;
     cfg.thrMid8 = 50;
     cfg.thrExpo8 = 0;
     // for (i = 0; i < CHECKBOXITEMS; i++)
diff --git a/src/mw.c b/src/mw.c
index 026ad7e31..4869bf036 100755
--- a/src/mw.c
+++ b/src/mw.c
@@ -80,8 +80,6 @@ void blinkLED(uint8_t num, uint8_t wait, uint8_t repeat)
     }
 }
 
-#define BREAKPOINT 1500
-
 void annexCode(void)
 {
     static uint32_t calibratedAccTime;
@@ -98,11 +96,11 @@ void annexCode(void)
     int i;
 
     // PITCH & ROLL only dynamic PID adjustemnt,  depending on throttle value
-    if (rcData[THROTTLE] < BREAKPOINT) {
+    if (rcData[THROTTLE] < cfg.tpaBreakPoint) {
         prop2 = 100;
     } else {
         if (rcData[THROTTLE] < 2000) {
-            prop2 = 100 - (uint16_t) cfg.dynThrPID * (rcData[THROTTLE] - BREAKPOINT) / (2000 - BREAKPOINT);
+            prop2 = 100 - (uint16_t) cfg.dynThrPID * (rcData[THROTTLE] - cfg.tpaBreakPoint) / (2000 - cfg.tpaBreakPoint);
         } else {
             prop2 = 100 - cfg.dynThrPID;
         }
diff --git a/src/mw.h b/src/mw.h
index e6ec6ea79..5fcb96de9 100755
--- a/src/mw.h
+++ b/src/mw.h
@@ -165,6 +165,7 @@ typedef struct config_t {
     uint8_t yawRate;
 
     uint8_t dynThrPID;
+    uint16_t tpaBreakPoint;                  // Breakpoint where TPA is activated
     int16_t mag_declination;                // Get your magnetic decliniation from here : http://magnetic-declination.com/
     int16_t angleTrim[2];                   // accelerometer trim
 

From 99ff409783cc4b22221a9ef009d72c57dbfc7c01 Mon Sep 17 00:00:00 2001
From: Johannes Kasberger <schugabe@gmx.at>
Date: Mon, 7 Apr 2014 23:07:51 +0200
Subject: [PATCH 2/2] increment EEPROM_CONF_VERSION

---
 src/config.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/config.c b/src/config.c
index 90353446b..fc0af9916 100755
--- a/src/config.c
+++ b/src/config.c
@@ -13,7 +13,7 @@ master_t mcfg;  // master config struct with data independent from profiles
 config_t cfg;   // profile config struct
 const char rcChannelLetters[] = "AERT1234";
 
-static const uint8_t EEPROM_CONF_VERSION = 60;
+static const uint8_t EEPROM_CONF_VERSION = 61;
 static uint32_t enabledSensors = 0;
 static void resetConf(void);