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fixes for feedforward for 4.3
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8 changed files with 93 additions and 90 deletions
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@ -284,7 +284,7 @@ typedef struct pidRuntime_s {
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float antiGravityOsdCutoff;
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float antiGravityThrottleHpf;
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float antiGravityPBoost;
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float ffBoostFactor;
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float feedforwardBoostFactor;
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float itermAccelerator;
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uint16_t itermAcceleratorGain;
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float feedforwardTransition;
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@ -386,8 +386,8 @@ typedef struct pidRuntime_s {
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#ifdef USE_FEEDFORWARD
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feedforwardAveraging_t feedforwardAveraging;
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float ffSmoothFactor;
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float ffJitterFactor;
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float feedforwardSmoothFactor;
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float feedforwardJitterFactor;
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#endif
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} pidRuntime_t;
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@ -440,7 +440,7 @@ void pidSetItermReset(bool enabled);
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float pidGetPreviousSetpoint(int axis);
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float pidGetDT();
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float pidGetPidFrequency();
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float pidGetFfBoostFactor();
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float pidGetFfSmoothFactor();
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float pidGetFfJitterFactor();
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float pidGetFeedforwardBoostFactor();
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float pidGetFeedforwardSmoothFactor();
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float pidGetFeedforwardJitterFactor();
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float dynLpfCutoffFreq(float throttle, uint16_t dynLpfMin, uint16_t dynLpfMax, uint8_t expo);
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