diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml index 1c38034dcf8..1e1932531e5 100644 --- a/src/main/fc/settings.yaml +++ b/src/main/fc/settings.yaml @@ -1411,7 +1411,7 @@ groups: default_value: OFF - name: fw_tpa_time_constant description: "TPA smoothing and delay time constant to reflect non-instant speed/throttle response of the plane. See **PID Attenuation and scaling** Wiki for full details." - default_value: 1500 + default_value: 2000 field: throttle.fixedWingTauMs min: 0 max: 5000 diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c index dc3c7e44bad..0a2faa648ca 100644 --- a/src/main/flight/pid.c +++ b/src/main/flight/pid.c @@ -446,7 +446,7 @@ static float calculateFixedWingAirspeedTPAFactor(void){ const float airspeed = constrainf(getAirspeedEstimate(), 100.0f, 20000.0f); // cm/s, clamped to 3.6-720 km/h const float referenceAirspeed = pidProfile()->fixedWingReferenceAirspeed; // in cm/s float tpaFactor= powf(referenceAirspeed/airspeed, currentControlProfile->throttle.apa_pow/100.0f); - tpaFactor= constrainf(tpaFactor, 0.3f, 1.5f); + tpaFactor= constrainf(tpaFactor, 0.3f, 2.0f); return tpaFactor; }