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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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12
src/main/flight/pid.h
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@ -284,7 +284,7 @@ typedef struct pidRuntime_s {
float antiGravityOsdCutoff;
float antiGravityThrottleHpf;
float antiGravityPBoost;
float ffBoostFactor;
float feedforwardBoostFactor;
float itermAccelerator;
uint16_t itermAcceleratorGain;
float feedforwardTransition;
@ -386,8 +386,8 @@ typedef struct pidRuntime_s {
#ifdef USE_FEEDFORWARD
feedforwardAveraging_t feedforwardAveraging;
float ffSmoothFactor;
float ffJitterFactor;
float feedforwardSmoothFactor;
float feedforwardJitterFactor;
#endif
} pidRuntime_t;
@ -440,7 +440,7 @@ void pidSetItermReset(bool enabled);
float pidGetPreviousSetpoint(int axis);
float pidGetDT();
float pidGetPidFrequency();
float pidGetFfBoostFactor();
float pidGetFfSmoothFactor();
float pidGetFfJitterFactor();
float pidGetFeedforwardBoostFactor();
float pidGetFeedforwardSmoothFactor();
float pidGetFeedforwardJitterFactor();
float dynLpfCutoffFreq(float throttle, uint16_t dynLpfMin, uint16_t dynLpfMax, uint8_t expo);