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Turntilt fix: don't suppress it in high torque response situations #66

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Merged
lukash merged 1 commit into from
Nov 8, 2025
Merged

Turntilt fix: don't suppress it in high torque response situations #66

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9 changes: 1 addition & 8 deletions src/main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -887,14 +887,7 @@ static void refloat_thd(void *arg) {
brake_tilt_winddown(&d->brake_tilt);
} else {
apply_noseangling(d);
turn_tilt_update(
&d->turn_tilt,
&d->motor,
&d->atr,
d->imu.balance_pitch,
d->noseangling_interpolated,
&d->float_conf
);
turn_tilt_update(&d->turn_tilt, &d->motor, &d->float_conf);

torque_tilt_update(&d->torque_tilt, &d->motor, &d->float_conf);
atr_update(&d->atr, &d->motor, &d->float_conf);
Expand Down
33 changes: 1 addition & 32 deletions src/turn_tilt.c
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Original file line number Diff line number Diff line change
Expand Up @@ -73,14 +73,7 @@ void turn_tilt_aggregate(TurnTilt *tt, const IMU *imu) {
}
}

void turn_tilt_update(
TurnTilt *tt,
const MotorData *md,
const ATR *atr,
float balance_pitch,
float noseangling,
const RefloatConfig *config
) {
void turn_tilt_update(TurnTilt *tt, const MotorData *md, const RefloatConfig *config) {
if (config->turntilt_strength == 0) {
return;
}
Expand Down Expand Up @@ -127,30 +120,6 @@ void turn_tilt_update(
} else {
tt->target *= md->erpm_sign;
}

// ATR interference: Reduce target during moments of high torque response
float atr_min = 2;
float atr_max = 5;
if (sign(atr->target) != sign(tt->target)) {
// further reduced turntilt during moderate to steep downhills
atr_min = 1;
atr_max = 4;
}
if (fabsf(atr->target) > atr_min) {
// Start scaling turntilt when ATR>2, down to 0 turntilt for ATR > 5 degrees
float atr_scaling = (atr_max - fabsf(atr->target)) / (atr_max - atr_min);
if (atr_scaling < 0) {
atr_scaling = 0;
// during heavy torque response clear the yaw aggregate too
tt->yaw_aggregate = 0;
}
tt->target *= atr_scaling;
}
if (fabsf(balance_pitch - noseangling) > 4) {
// no setpoint changes during heavy acceleration or braking
tt->target = 0;
tt->yaw_aggregate = 0;
}
}

// Smoothen changes in tilt angle by ramping the step size
Expand Down
10 changes: 1 addition & 9 deletions src/turn_tilt.h
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Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,6 @@

#pragma once

#include "atr.h"
#include "conf/datatypes.h"
#include "imu.h"
#include "motor_data.h"
Expand Down Expand Up @@ -45,13 +44,6 @@ void turn_tilt_configure(TurnTilt *tt, const RefloatConfig *config);

void turn_tilt_aggregate(TurnTilt *tt, const IMU *imu);

void turn_tilt_update(
TurnTilt *tt,
const MotorData *md,
const ATR *atr,
float balance_pitch,
float noseangling,
const RefloatConfig *config
);
void turn_tilt_update(TurnTilt *tt, const MotorData *md, const RefloatConfig *config);

void turn_tilt_winddown(TurnTilt *tt);
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