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added dterm lpf configurable curve

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This commit is contained in:
Nicola De Pasquale 2020-01-11 15:01:06 +01:00
parent 924fd3414f
commit 3ae5830eb0
3 changed files with 19 additions and 1 deletions
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2
src/main/flight/pid.h
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@ -185,6 +185,7 @@ typedef struct pidProfile_s {
uint8_t ff_max_rate_limit; // Maximum setpoint rate percentage for FF
uint8_t ff_spike_limit; // FF stick extrapolation lookahead period in ms
uint8_t ff_smooth_factor; // Amount of smoothing for interpolated FF steps
uint8_t dyn_lpf_curve_expo; // set the curve for dynamic dterm lowpass filter
} pidProfile_t;
PG_DECLARE_ARRAY(pidProfile_t, PID_PROFILE_COUNT, pidProfiles);
@ -264,3 +265,4 @@ float pidGetPidFrequency();
float pidGetFfBoostFactor();
float pidGetFfSmoothFactor();
float pidGetSpikeLimitInverse();
float dynDtermLpfCutoffFreq(float throttle, uint16_t dynLpfMin, uint16_t dynLpfMax, uint8_t expo);