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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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3
src/main/flight/pid.h
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@ -196,7 +196,6 @@ typedef struct pidProfile_s {
uint8_t ff_interpolate_sp; // Calculate FF from interpolated setpoint
uint8_t ff_max_rate_limit; // Maximum setpoint rate percentage for FF
uint8_t ff_spike_limit; // FF stick extrapolation lookahead period in ms
uint8_t ff_smooth_factor; // Amount of smoothing for interpolated FF steps
uint8_t dyn_lpf_curve_expo; // set the curve for dynamic dterm lowpass filter
uint8_t level_race_mode; // NFE race mode - when true pitch setpoint calcualtion is gyro based in level mode
@ -257,7 +256,6 @@ typedef struct pidRuntime_s {
float antiGravityOsdCutoff;
float antiGravityThrottleHpf;
float ffBoostFactor;
float ffSpikeLimitInverse;
float itermAccelerator;
uint16_t itermAcceleratorGain;
float feedForwardTransition;
@ -413,5 +411,4 @@ float pidGetDT();
float pidGetPidFrequency();
float pidGetFfBoostFactor();
float pidGetFfSmoothFactor();
float pidGetSpikeLimitInverse();
float dynLpfCutoffFreq(float throttle, uint16_t dynLpfMin, uint16_t dynLpfMax, uint8_t expo);