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feedforward transition moved to feedforward.c

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This commit is contained in:
ctzsnooze 2021-08-04 16:48:07 +10:00
parent 86aa5cc84e
commit 28d9d778a6
6 changed files with 33 additions and 20 deletions
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16
src/main/flight/pid.c
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@ -256,12 +256,12 @@ void pidStabilisationState(pidStabilisationState_e pidControllerState)
const angle_index_t rcAliasToAngleIndexMap[] = { AI_ROLL, AI_PITCH };
float pidGetFeedforwardBoostFactor()
#ifdef USE_FEEDFORWARD
float pidGetFeedforwardTransitionFactor()
{
return pidRuntime.feedforwardBoostFactor;
return pidRuntime.feedforwardTransitionFactor;
}
#ifdef USE_FEEDFORWARD
float pidGetFeedforwardSmoothFactor()
{
return pidRuntime.feedforwardSmoothFactor;
@ -271,6 +271,11 @@ float pidGetFeedforwardJitterFactor()
{
return pidRuntime.feedforwardJitterFactor;
}
float pidGetFeedforwardBoostFactor()
{
return pidRuntime.feedforwardBoostFactor;
}
#endif
void pidResetIterm(void)
@ -1105,9 +1110,8 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, timeUs_t currentTim
if (feedforwardGain > 0) {
// halve feedforward in Level mode since stick sensitivity is weaker by about half
feedforwardGain *= FLIGHT_MODE(ANGLE_MODE) ? 0.5f : 1.0f;
// no transition if feedforwardTransition == 0
float transition = pidRuntime.feedforwardTransition > 0 ? MIN(1.f, getRcDeflectionAbs(axis) * pidRuntime.feedforwardTransition) : 1;
float feedForward = feedforwardGain * transition * pidSetpointDelta * pidRuntime.pidFrequency;
// transition now calculated in feedforward.c when new RC data arrives
float feedForward = feedforwardGain * pidSetpointDelta * pidRuntime.pidFrequency;
#ifdef USE_FEEDFORWARD
pidData[axis].F = shouldApplyFeedforwardLimits(axis) ?