From 356b8e2be295a3a3bab453dd0561dcbb36aa595d Mon Sep 17 00:00:00 2001 From: Marc Date: Sun, 17 May 2015 10:42:01 -0400 Subject: [PATCH] Minor edit TPA acronym, spelling error --- docs/PID tuning.md | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/docs/PID tuning.md b/docs/PID tuning.md index b536f7890..75e8f3e7e 100644 --- a/docs/PID tuning.md +++ b/docs/PID tuning.md @@ -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. -- 2.11.4.GIT