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Smooth anti gravity

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This commit is contained in:
ctzsnooze 2018-07-09 11:35:26 +10:00 • committed by mikeller
parent 60a59334a5
commit 4c917efa50
17 changed files with 103 additions and 22 deletions
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6
src/main/flight/mixer.c
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@ -806,10 +806,12 @@ FAST_CODE_NOINLINE void mixTable(timeUs_t currentTimeUs, uint8_t vbatPidCompensa
motorMix[i] = mix;
}
pidUpdateAntiGravityThrottleFilter(throttle);
#if defined(USE_THROTTLE_BOOST)
if (throttleBoost > 0.0f) {
float throttlehpf = throttle - pt1FilterApply(&throttleLpf, throttle);
throttle = constrainf(throttle + throttleBoost * throttlehpf, 0.0f, 1.0f);
const float throttleHpf = throttle - pt1FilterApply(&throttleLpf, throttle);
throttle = constrainf(throttle + throttleBoost * throttleHpf, 0.0f, 1.0f);
}
#endif