TPA Comparison

📖 Overview

TPA (Throttle PID Attenuation) reduces PID gains at high throttle to prevent mid-to-high throttle oscillations (heard as high-frequency flutter or warbling during full-throttle punch-outs).

🛠️ How to Use

1. Set TPA Rate: The percentage by which P and D gains attenuate at 100% throttle (e.g. 0.65 reduces PIDs by 65%, leaving 35% gain at full throttle).
2. Set Breakpoint: The throttle value (in µs, e.g. 1350 µs) where attenuation begins. PIDs remain at 100% strength below this point.
3. Use the dual control panels to overlay Profile A and Profile B to compare curve slopes and attenuation aggressive levels.

📊 Understanding the Charts

The chart displays PID multiplier strength (1.0 = 100% gain down to 0.35 = 35% gain) plotted against throttle percentage (0% to 100%). The flat line turns downward at the breakpoint, illustrating where and how sharply PID damping takes effect.