Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-24 16:55:36 +03:00
Code Issues Wiki Activity

Apply those good ledvinap suggestions

Browse source
This commit is contained in:
Quick-Flash 2025-06-06 14:55:22 -06:00
parent e7fa8b7c41
commit 69a39da2c0
2 changed files with 7 additions and 3 deletions
Download patch file Download diff file Expand all files Collapse all files

4
src/main/common/maths.h
View file

@ -164,3 +164,7 @@ static inline float constrainf(float amt, float low, float high)
else
return amt;
}
static inline float lerp(float t, float a, float b) {
return a + t * (b - a);
}

6
src/main/fc/rc.c
View file

@ -342,13 +342,13 @@ static FAST_CODE_NOINLINE void rcSmoothingUpdateFilterTau(rcSmoothingFilter_t *s
const float dT = targetPidLooptime * 1e-6f;
for (int i = FD_ROLL; i <= FD_YAW; i++) {
const float tau = (1.0f - rcDeflectionAbs[i]) * cen_tau + rcDeflectionAbs[i] * end_tau;
for (unsigned int i = FD_ROLL; i <= FD_YAW; i++) {
const float tau = lerp(rcDeflectionAbs[i], cen_tau, end_tau);
const float pt3K = pt3FilterGainFromDelay(tau, dT);
pt3FilterUpdateCutoff(&smoothingData->filterSetpoint[i], pt3K);
pt3FilterUpdateCutoff(&smoothingData->filterFeedforward[i], pt3K);
if (i < FD_YAW) {
if (i < ARRAYLEN(smoothingData->filterRcDeflection)) {
pt3FilterUpdateCutoff(&smoothingData->filterRcDeflection[i], pt3K);
}
}