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Fix inverted TPA pitch-compensation sign in fixed-wing throttle #11952

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Fix inverted TPA pitch-compensation sign in fixed-wing throttle #11952

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7 changes: 6 additions & 1 deletion src/main/flight/pid.c
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Original file line number Diff line number Diff line change
Expand Up @@ -516,8 +516,13 @@ static float calculateTPAThtrottle(void)

if (usedPidControllerType == PID_TYPE_PIFF && (currentControlProfile->throttle.fixedWingTauMs > 0)) { //fixed wing TPA with filtering
fpVector3_t vForward = { .v = { HeadVecEFFiltered.x, -HeadVecEFFiltered.y, -HeadVecEFFiltered.z } };
// vForward is in NED (see #11869); groundCos is its down-component, so it's
// positive when diving and negative when climbing. tpa_pitch_compensation
// is documented (and range-limited to >= 0) to *increase* throttle when
// climbing, so the sign must be flipped here rather than in groundCos
// itself, which wind_estimator.c's identical construction depends on.
float groundCos = vectorDotProduct(&vForward, &vDown);
int16_t throttleAdjustment = currentControlProfile->throttle.tpa_pitch_compensation * groundCos * 90.0f / 1.57079632679f; //when 1deg pitch up, increase throttle by pitch(deg)_to_throttle. cos(89 deg)*90/(pi/2)=0.99995,cos(80 deg)*90/(pi/2)=9.9493,
int16_t throttleAdjustment = -currentControlProfile->throttle.tpa_pitch_compensation * groundCos * 90.0f / 1.57079632679f; //when 1deg pitch up, increase throttle by pitch(deg)_to_throttle. cos(89 deg)*90/(pi/2)=0.99995,cos(80 deg)*90/(pi/2)=9.9493,
uint16_t throttleAdjusted = rcCommand[THROTTLE] + constrain(throttleAdjustment, -1000, 1000);
tpaThrottle = pt1FilterApply(&fixedWingTpaFilter, constrain(throttleAdjusted, 1000, 2000));
}
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