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Code Issues Wiki Activity

various ff2_0 improvements

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simplify

double period averaging

fix calc

ff changes

in between

fixes

clip * clip and cleanup

address review feedback

more review feedback

10 to 100
This commit is contained in:
Thorsten Laux 2019-08-18 15:37:33 +02:00 • committed by mikeller
parent 0d62e71a8c
commit 5855b275f4
8 changed files with 96 additions and 77 deletions
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4
src/main/flight/pid.h
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@ -182,9 +182,8 @@ typedef struct pidProfile_s {
uint8_t idle_max_increase; // max integrated correction
uint8_t ff_interpolate_sp; // Calculate FF from interpolated setpoint
uint8_t ff_spread; // Spread ff out over at least min spread ms
uint8_t ff_max_rate_limit; // Maximum setpoint rate percentage for FF
uint8_t ff_lookahead_limit; // FF stick extrapolation lookahead period in ms
uint8_t ff_jerk_limit; // FF stick extrapolation lookahead period in ms
} pidProfile_t;
PG_DECLARE_ARRAY(pidProfile_t, PID_PROFILE_COUNT, pidProfiles);
@ -262,3 +261,4 @@ float pidGetPreviousSetpoint(int axis);
float pidGetDT();
float pidGetPidFrequency();
float pidGetFfBoostFactor();
float pidGetJerkLimitInverse();