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FF update including second order fitlering of boost, tidying up etc

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Include default to no averaging
This commit is contained in:
ctzsnooze 2020-09-12 17:08:14 +10:00
parent 1c3346bae1
commit 73663f7fae
6 changed files with 73 additions and 95 deletions
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11
src/main/flight/pid.c
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@ -121,7 +121,7 @@ PG_RESET_TEMPLATE(pidConfig_t, pidConfig,
#define LAUNCH_CONTROL_YAW_ITERM_LIMIT 50 // yaw iterm windup limit when launch mode is "FULL" (all axes)
PG_REGISTER_ARRAY_WITH_RESET_FN(pidProfile_t, PID_PROFILE_COUNT, pidProfiles, PG_PID_PROFILE, 15);
PG_REGISTER_ARRAY_WITH_RESET_FN(pidProfile_t, PID_PROFILE_COUNT, pidProfiles, PG_PID_PROFILE, 1);
void resetPidProfile(pidProfile_t *pidProfile)
{
@ -202,8 +202,7 @@ void resetPidProfile(pidProfile_t *pidProfile)
.idle_p = 50,
.idle_pid_limit = 200,
.idle_max_increase = 150,
.ff_interpolate_sp = FF_INTERPOLATE_AVG2,
.ff_spike_limit = 60,
.ff_interpolate_sp = FF_INTERPOLATE_ON,
.ff_max_rate_limit = 100,
.ff_smooth_factor = 37,
.ff_boost = 15,
@ -246,12 +245,6 @@ void pidStabilisationState(pidStabilisationState_e pidControllerState)
const angle_index_t rcAliasToAngleIndexMap[] = { AI_ROLL, AI_PITCH };
float pidGetSpikeLimitInverse()
{
return pidRuntime.ffSpikeLimitInverse;
}
float pidGetFfBoostFactor()
{
return pidRuntime.ffBoostFactor;