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PID TPA Pitch Angle Related Refactor #11969

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1896c35
pitch tpa refactor
breadoven Sep 18, 2026
a7f7970
fixes errors + more cleaning
breadoven Sep 18, 2026
feb2feb
fix FW tpaFactor spike at idle
breadoven Sep 18, 2026
163d7cc
msp update msp_messages.json, msp/README.md
sensei-hacker Sep 18, 2026
2f5abeb
Merge branch 'maintenance-10.x' into abo_tpa_pitch_refactor
breadoven Sep 18, 2026
e051de3
update setting description
breadoven Sep 20, 2026
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2 changes: 1 addition & 1 deletion docs/Settings.md
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Expand Up @@ -7208,7 +7208,7 @@ Fixed wing only. Pitch angle based bias for TPA. Used as a proxy for airspeed wh

### tpa_rate

Throttle based PID attenuation(TPA) reduces influence of PDFF on ROLL and PITCH of multi-rotor, PIDFF on ROLL,PITCH,YAW OF fixed_wing as throttle increases. On multirotor, For every 1% throttle after the TPA breakpoint, P is reduced by the TPA rate. for fixedwing modifies PIDFF. See **PID Attenuation and scaling** Wiki for full details.
Throttle PID attenuation (TPA) changes affect of PDFF on ROLL and PITCH of multi-rotor or PIDFF on ROLL, PITCH and YAW of fixed_wing as throttle changes. On multirotor PDFF is reduced by the TPA rate for every 1% throttle increase after the TPA breakpoint (Note: tpa_rate is limited to max of 100 for multirotor). For fixed wing it modifies PIDFF with additional pitch related throttle compensation if tpa_pitch_compensation set. See **PID Attenuation and scaling** Wiki for full details.

| Default | Min | Max |
| --- | --- | --- |
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8 changes: 4 additions & 4 deletions docs/development/msp/README.md
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Expand Up @@ -1994,7 +1994,7 @@ When the MSP JSON specification changes, bump `msp_messages.json` version:
| `dynamicThrottlePID` | `uint8_t` | 1 | Dynamic Throttle PID (TPA) value (`currentControlRateProfile->throttle.dynPID`) |
| `throttleMid` | `uint8_t` | 1 | Throttle Midpoint (`currentControlRateProfile->throttle.rcMid8`) |
| `throttleExpo` | `uint8_t` | 1 | Throttle Expo (`currentControlRateProfile->throttle.rcExpo8`) |
| `tpaBreakpoint` | `uint16_t` | 2 | Throttle PID Attenuation (TPA) breakpoint (`currentControlRateProfile->throttle.pa_breakpoint`) |
| `tpaBreakpoint` | `uint16_t` | 2 | Throttle PID Attenuation (TPA) breakpoint (`currentControlRateProfile->throttle.tpa_breakpoint`) |
| `rcYawExpo` | `uint8_t` | 1 | Yaw RC Expo (`currentControlRateProfile->stabilized.rcYawExpo8`) |

**Notes:** Superseded by `MSP2_INAV_RATE_PROFILE` which includes manual rates/expos.
Expand Down Expand Up @@ -2421,7 +2421,7 @@ When the MSP JSON specification changes, bump `msp_messages.json` version:
| `dynamicThrottlePID` | `uint8_t` | 1 | Sets `currentControlRateProfile->throttle.dynPID` (constrained) |
| `throttleMid` | `uint8_t` | 1 | Sets `currentControlRateProfile->throttle.rcMid8` |
| `throttleExpo` | `uint8_t` | 1 | Sets `currentControlRateProfile->throttle.rcExpo8` |
| `tpaBreakpoint` | `uint16_t` | 2 | Sets `currentControlRateProfile->throttle.pa_breakpoint` |
| `tpaBreakpoint` | `uint16_t` | 2 | Sets `currentControlRateProfile->throttle.tpa_breakpoint` |
| `rcYawExpo` | `uint8_t` | 1 | (Optional) Sets `currentControlRateProfile->stabilized.rcYawExpo8` |

**Reply Payload:** **None**
Expand Down Expand Up @@ -3315,7 +3315,7 @@ When the MSP JSON specification changes, bump `msp_messages.json` version:
| `throttleMid` | `uint8_t` | 1 | Throttle Midpoint (`currentControlRateProfile->throttle.rcMid8`) |
| `throttleExpo` | `uint8_t` | 1 | Throttle Expo (`currentControlRateProfile->throttle.rcExpo8`) |
| `dynamicThrottlePID` | `uint8_t` | 1 | TPA value (`currentControlRateProfile->throttle.dynPID`) |
| `tpaBreakpoint` | `uint16_t` | 2 | TPA breakpoint (`currentControlRateProfile->throttle.pa_breakpoint`) |
| `tpaBreakpoint` | `uint16_t` | 2 | TPA breakpoint (`currentControlRateProfile->throttle.tpa_breakpoint`) |
| `stabRcExpo` | `uint8_t` | 1 | Stabilized Roll/Pitch Expo (`currentControlRateProfile->stabilized.rcExpo8`) |
| `stabRcYawExpo` | `uint8_t` | 1 | Stabilized Yaw Expo (`currentControlRateProfile->stabilized.rcYawExpo8`) |
| `stabRollRate` | `uint8_t` | 1 | Stabilized Roll Rate (`currentControlRateProfile->stabilized.rates[FD_ROLL]`) |
Expand All @@ -3336,7 +3336,7 @@ When the MSP JSON specification changes, bump `msp_messages.json` version:
| `throttleMid` | `uint8_t` | 1 | Sets `currentControlRateProfile->throttle.rcMid8` |
| `throttleExpo` | `uint8_t` | 1 | Sets `currentControlRateProfile->throttle.rcExpo8` |
| `dynamicThrottlePID` | `uint8_t` | 1 | Sets `currentControlRateProfile->throttle.dynPID` |
| `tpaBreakpoint` | `uint16_t` | 2 | Sets `currentControlRateProfile->throttle.pa_breakpoint` |
| `tpaBreakpoint` | `uint16_t` | 2 | Sets `currentControlRateProfile->throttle.tpa_breakpoint` |
| `stabRcExpo` | `uint8_t` | 1 | Sets `currentControlRateProfile->stabilized.rcExpo8` |
| `stabRcYawExpo` | `uint8_t` | 1 | Sets `currentControlRateProfile->stabilized.rcYawExpo8` |
| `stabRollRate` | `uint8_t` | 1 | Sets `currentControlRateProfile->stabilized.rates[FD_ROLL]` (constrained) |
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8 changes: 4 additions & 4 deletions docs/development/msp/msp_messages.json
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Expand Up @@ -4022,7 +4022,7 @@
{
"name": "tpaBreakpoint",
"ctype": "uint16_t",
"desc": "Throttle PID Attenuation (TPA) breakpoint (`currentControlRateProfile->throttle.pa_breakpoint`)",
"desc": "Throttle PID Attenuation (TPA) breakpoint (`currentControlRateProfile->throttle.tpa_breakpoint`)",
"units": ""
},
{
Expand Down Expand Up @@ -5127,7 +5127,7 @@
{
"name": "tpaBreakpoint",
"ctype": "uint16_t",
"desc": "Sets `currentControlRateProfile->throttle.pa_breakpoint`",
"desc": "Sets `currentControlRateProfile->throttle.tpa_breakpoint`",
"units": ""
},
{
Expand Down Expand Up @@ -7447,7 +7447,7 @@
{
"name": "tpaBreakpoint",
"ctype": "uint16_t",
"desc": "TPA breakpoint (`currentControlRateProfile->throttle.pa_breakpoint`)",
"desc": "TPA breakpoint (`currentControlRateProfile->throttle.tpa_breakpoint`)",
"units": ""
},
{
Expand Down Expand Up @@ -7541,7 +7541,7 @@
{
"name": "tpaBreakpoint",
"ctype": "uint16_t",
"desc": "Sets `currentControlRateProfile->throttle.pa_breakpoint`",
"desc": "Sets `currentControlRateProfile->throttle.tpa_breakpoint`",
"units": ""
},
{
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2 changes: 1 addition & 1 deletion src/main/blackbox/blackbox.c
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Expand Up @@ -2057,7 +2057,7 @@ static bool blackboxWriteSysinfo(void)
BLACKBOX_PRINT_HEADER_LINE("thr_mid", "%d", currentControlProfile->throttle.rcMid8);
BLACKBOX_PRINT_HEADER_LINE("thr_expo", "%d", currentControlProfile->throttle.rcExpo8);
BLACKBOX_PRINT_HEADER_LINE("tpa_rate", "%d", currentControlProfile->throttle.dynPID);
BLACKBOX_PRINT_HEADER_LINE("tpa_breakpoint", "%d", currentControlProfile->throttle.pa_breakpoint);
BLACKBOX_PRINT_HEADER_LINE("tpa_breakpoint", "%d", currentControlProfile->throttle.tpa_breakpoint);
BLACKBOX_PRINT_HEADER_LINE("rates", "%d,%d,%d", currentControlProfile->stabilized.rates[ROLL],
currentControlProfile->stabilized.rates[PITCH],
currentControlProfile->stabilized.rates[YAW]);
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2 changes: 1 addition & 1 deletion src/main/fc/control_profile.c
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Expand Up @@ -44,7 +44,7 @@ void pgResetFn_controlProfiles(controlConfig_t *instance)
.rcExpo8 = SETTING_THR_EXPO_DEFAULT,
.dynPID = SETTING_TPA_RATE_DEFAULT,
.dynPID_on_YAW = SETTING_TPA_ON_YAW_DEFAULT,
.pa_breakpoint = SETTING_TPA_BREAKPOINT_DEFAULT,
.tpa_breakpoint = SETTING_TPA_BREAKPOINT_DEFAULT,
.fixedWingTauMs = SETTING_FW_TPA_TIME_CONSTANT_DEFAULT,
.apa_pow = SETTING_APA_POW_DEFAULT,
.tpa_pitch_compensation = SETTING_TPA_PITCH_COMPENSATION_DEFAULT
Expand Down
6 changes: 3 additions & 3 deletions src/main/fc/control_profile_config_struct.h
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Expand Up @@ -30,9 +30,9 @@ typedef struct controlConfig_s {
uint8_t rcExpo8;
uint8_t dynPID;
bool dynPID_on_YAW;
uint16_t pa_breakpoint; // Breakpoint where TPA is activated
uint16_t fixedWingTauMs; // Time constant of airplane TPA PT1-filter
uint16_t apa_pow; // Use airspeed instead of throttle position for TPA calculation,0 to disable
uint16_t tpa_breakpoint; // Breakpoint where TPA is activated
Comment thread
qodo-free-for-open-source-projects[bot] marked this conversation as resolved.
uint16_t fixedWingTauMs; // Time constant of airplane TPA PT1-filter
uint16_t apa_pow; // Use airspeed instead of throttle position for TPA calculation,0 to disable
uint8_t tpa_pitch_compensation; // Pitch angle based throttle compensation for fixed wing
} throttle;

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12 changes: 6 additions & 6 deletions src/main/fc/fc_msp.c
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Expand Up @@ -811,7 +811,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
sbufWriteU8(dst, currentControlProfile->throttle.dynPID);
sbufWriteU8(dst, currentControlProfile->throttle.rcMid8);
sbufWriteU8(dst, currentControlProfile->throttle.rcExpo8);
sbufWriteU16(dst, currentControlProfile->throttle.pa_breakpoint);
sbufWriteU16(dst, currentControlProfile->throttle.tpa_breakpoint);
sbufWriteU8(dst, currentControlProfile->stabilized.rcYawExpo8);
break;

Expand All @@ -820,7 +820,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
sbufWriteU8(dst, currentControlProfile->throttle.rcMid8);
sbufWriteU8(dst, currentControlProfile->throttle.rcExpo8);
sbufWriteU8(dst, currentControlProfile->throttle.dynPID);
sbufWriteU16(dst, currentControlProfile->throttle.pa_breakpoint);
sbufWriteU16(dst, currentControlProfile->throttle.tpa_breakpoint);

// stabilized
sbufWriteU8(dst, currentControlProfile->stabilized.rcExpo8);
Expand Down Expand Up @@ -2150,15 +2150,15 @@ typedef struct PACKED {
uint8_t dynPID;
uint8_t throttleRcMid8;
uint8_t throttleRcExpo8;
uint16_t throttlePaBreakpoint;
uint16_t throttleTpaBreakpoint;
} mspSetRcTuning_t;
STATIC_ASSERT(sizeof(mspSetRcTuning_t) == 10, mspSetRcTuning_t_size);

typedef struct PACKED {
uint8_t throttleRcMid8;
uint8_t throttleRcExpo8;
uint8_t throttleDynPID;
uint16_t throttlePaBreakpoint;
uint16_t throttleTpaBreakpoint;
uint8_t stabilizedRcExpo8;
uint8_t stabilizedRcYawExpo8;
uint8_t stabilizedRollRate;
Expand Down Expand Up @@ -2312,7 +2312,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
currentControlProfile_p->throttle.dynPID = MIN(pkt.dynPID, SETTING_TPA_RATE_MAX);
currentControlProfile_p->throttle.rcMid8 = pkt.throttleRcMid8;
currentControlProfile_p->throttle.rcExpo8 = pkt.throttleRcExpo8;
currentControlProfile_p->throttle.pa_breakpoint = pkt.throttlePaBreakpoint;
currentControlProfile_p->throttle.tpa_breakpoint = pkt.throttleTpaBreakpoint;

if (dataSize > sizeof(mspSetRcTuning_t)) {
uint8_t rcYawExpo8;
Expand Down Expand Up @@ -2343,7 +2343,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
currentControlProfile_p->throttle.rcMid8 = pkt.throttleRcMid8;
currentControlProfile_p->throttle.rcExpo8 = pkt.throttleRcExpo8;
currentControlProfile_p->throttle.dynPID = pkt.throttleDynPID;
currentControlProfile_p->throttle.pa_breakpoint = pkt.throttlePaBreakpoint;
currentControlProfile_p->throttle.tpa_breakpoint = pkt.throttleTpaBreakpoint;

// stabilized
currentControlProfile_p->stabilized.rcExpo8 = pkt.stabilizedRcExpo8;
Expand Down
2 changes: 1 addition & 1 deletion src/main/fc/rc_adjustments.c
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Expand Up @@ -597,7 +597,7 @@ static void applyStepAdjustment(controlConfig_t *controlConfig, uint8_t adjustme
applyAdjustmentU8(ADJUSTMENT_TPA, &controlConfig->throttle.dynPID, delta, 0, SETTING_TPA_RATE_MAX);
break;
case ADJUSTMENT_TPA_BREAKPOINT:
applyAdjustmentU16(ADJUSTMENT_TPA_BREAKPOINT, &controlConfig->throttle.pa_breakpoint, delta, PWM_RANGE_MIN, PWM_RANGE_MAX);
applyAdjustmentU16(ADJUSTMENT_TPA_BREAKPOINT, &controlConfig->throttle.tpa_breakpoint, delta, PWM_RANGE_MIN, PWM_RANGE_MAX);
break;
case ADJUSTMENT_FW_TPA_TIME_CONSTANT:
applyAdjustmentU16(ADJUSTMENT_FW_TPA_TIME_CONSTANT, &controlConfig->throttle.fixedWingTauMs, delta, SETTING_FW_TPA_TIME_CONSTANT_MIN, SETTING_FW_TPA_TIME_CONSTANT_MAX);
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4 changes: 2 additions & 2 deletions src/main/fc/settings.yaml
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Expand Up @@ -1457,15 +1457,15 @@ groups:
min: 0
max: 200
- name: tpa_rate
description: "Throttle based PID attenuation(TPA) reduces influence of PDFF on ROLL and PITCH of multi-rotor, PIDFF on ROLL,PITCH,YAW OF fixed_wing as throttle increases. On multirotor, For every 1% throttle after the TPA breakpoint, P is reduced by the TPA rate. for fixedwing modifies PIDFF. See **PID Attenuation and scaling** Wiki for full details."
description: "Throttle PID attenuation (TPA) changes affect of PDFF on ROLL and PITCH of multi-rotor or PIDFF on ROLL, PITCH and YAW of fixed_wing as throttle changes. On multirotor PDFF is reduced by the TPA rate for every 1% throttle increase after the TPA breakpoint (Note: tpa_rate is limited to max of 100 for multirotor). For fixed wing it modifies PIDFF with additional pitch related throttle compensation if tpa_pitch_compensation set. See **PID Attenuation and scaling** Wiki for full details."
default_value: 0
field: throttle.dynPID
min: 0
max: 200
- name: tpa_breakpoint
description: "See tpa_rate."
default_value: 1500
field: throttle.pa_breakpoint
field: throttle.tpa_breakpoint
min: PWM_RANGE_MIN
max: PWM_RANGE_MAX
- name: tpa_pitch_compensation
Expand Down
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