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

Originally I had added this turntilt suppression beacuse of my paranoia about
getting taildrags on downhills when turntilt kicks in...

It turns out that it was unnecessary. In the contrary: uphill/downhill berms,
no matter how steep, still benefit from having turntilt.

Fix: Remove turntilt suppression in high torque response situations

Author: surfdado

src/main.c

@@ -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);

src/turn_tilt.c

@@ -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;
     }
@@ -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

src/turn_tilt.h

@@ -17,7 +17,6 @@
 
 #pragma once
 
-#include "atr.h"
 #include "conf/datatypes.h"
 #include "imu.h"
 #include "motor_data.h"
@@ -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);