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Cycletime Jitter buffer added // Removed reservations in scheduler

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borisbstyle 2016-02-20 20:18:51 +01:00
parent 0d2bf3184c
commit 06942f574e
5 changed files with 29 additions and 23 deletions
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2
src/main/flight/pid.c
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@ -135,6 +135,8 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
int axis, deltaCount;
float horizonLevelStrength = 1;
float dT = (float)targetLooptime * 0.000001f;
if (!deltaStateIsSet && pidProfile->dterm_lpf_hz) {
for (axis = 0; axis < 3; axis++) BiQuadNewLpf(pidProfile->dterm_lpf_hz, &deltaBiQuadState[axis], targetLooptime);
deltaStateIsSet = true;