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Interpolated feed forward smoothing

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This commit is contained in:
ctzsnooze 2019-11-20 11:28:04 +11:00
parent 881a256980
commit 3c91da0e59
5 changed files with 85 additions and 15 deletions
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2
src/main/flight/pid.h
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@ -184,6 +184,7 @@ typedef struct pidProfile_s {
uint8_t ff_interpolate_sp; // Calculate FF from interpolated setpoint
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
} pidProfile_t;
PG_DECLARE_ARRAY(pidProfile_t, PID_PROFILE_COUNT, pidProfiles);
@ -261,4 +262,5 @@ float pidGetPreviousSetpoint(int axis);
float pidGetDT();
float pidGetPidFrequency();
float pidGetFfBoostFactor();
float pidGetFfSmoothFactor();
float pidGetSpikeLimitInverse();