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add PT2 and PT3 lowpass filter options

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This commit is contained in:
ctzsnooze 2021-05-18 09:59:27 +10:00
parent 636d563abe
commit 3b62b2e5d4
8 changed files with 123 additions and 29 deletions
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8
src/test/unit/pid_unittest.cc
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@ -548,11 +548,11 @@ TEST(pidControllerTest, testFeedForward) {
EXPECT_NEAR(515.26, pidData[FD_PITCH].F, calculateTolerance(515.26));
EXPECT_NEAR(515.26, pidData[FD_YAW].F, calculateTolerance(515.26));
setStickPosition(FD_ROLL, 0.0f);
setStickPosition(FD_PITCH, 0.0f);
setStickPosition(FD_YAW, 0.0f);
setStickPosition(FD_ROLL, 0.0f);
setStickPosition(FD_PITCH, 0.0f);
setStickPosition(FD_YAW, 0.0f);
for (int loop = 0; loop <= 15; loop++) {
for (int loop = 0; loop <= 15; loop++) {
gyro.gyroADCf[FD_ROLL] += gyro.gyroADCf[FD_ROLL];
pidController(pidProfile, currentTestTime());
}