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fixes for feedforward for 4.3

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This commit is contained in:
ctzsnooze 2021-08-03 23:32:34 +10:00
parent 864cf3f3b4
commit 45ff9ea1e5
8 changed files with 93 additions and 90 deletions
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14
src/main/flight/pid.c
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@ -204,7 +204,7 @@ void resetPidProfile(pidProfile_t *pidProfile)
.dyn_idle_max_increase = 150,
.feedforward_averaging = FEEDFORWARD_AVERAGING_OFF,
.feedforward_max_rate_limit = 100,
.feedforward_smooth_factor = 37,
.feedforward_smooth_factor = 25,
.feedforward_jitter_factor = 7,
.feedforward_boost = 15,
.dyn_lpf_curve_expo = 5,
@ -256,20 +256,20 @@ void pidStabilisationState(pidStabilisationState_e pidControllerState)
const angle_index_t rcAliasToAngleIndexMap[] = { AI_ROLL, AI_PITCH };
float pidGetFfBoostFactor()
float pidGetFeedforwardBoostFactor()
{
return pidRuntime.ffBoostFactor;
return pidRuntime.feedforwardBoostFactor;
}
#ifdef USE_FEEDFORWARD
float pidGetFfSmoothFactor()
float pidGetFeedforwardSmoothFactor()
{
return pidRuntime.ffSmoothFactor;
return pidRuntime.feedforwardSmoothFactor;
}
float pidGetFfJitterFactor()
float pidGetFeedforwardJitterFactor()
{
return pidRuntime.ffJitterFactor;
return pidRuntime.feedforwardJitterFactor;
}
#endif