Merge pull request #10777 from ctzsnooze/move-feedforward-transtion-calculation

src/main/blackbox/blackbox.c

@@ -1384,16 +1384,16 @@ static bool blackboxWriteSysinfo(void)
 #ifdef USE_INTEGRATED_YAW_CONTROL
         BLACKBOX_PRINT_HEADER_LINE("use_integrated_yaw", "%d",              currentPidProfile->use_integrated_yaw);
 #endif
-        BLACKBOX_PRINT_HEADER_LINE("ff_transition", "%d",                   currentPidProfile->feedforwardTransition);
         BLACKBOX_PRINT_HEADER_LINE("ff_weight", "%d,%d,%d",                 currentPidProfile->pid[PID_ROLL].F,
                                                                             currentPidProfile->pid[PID_PITCH].F,
                                                                             currentPidProfile->pid[PID_YAW].F);
 #ifdef USE_FEEDFORWARD
+        BLACKBOX_PRINT_HEADER_LINE("ff_transition", "%d",                   currentPidProfile->feedforward_transition);
         BLACKBOX_PRINT_HEADER_LINE("ff_averaging", "%d",                    currentPidProfile->feedforward_averaging);
-        BLACKBOX_PRINT_HEADER_LINE("ff_max_rate_limit", "%d",               currentPidProfile->feedforward_max_rate_limit);
         BLACKBOX_PRINT_HEADER_LINE("ff_smooth_factor", "%d",                currentPidProfile->feedforward_smooth_factor);
         BLACKBOX_PRINT_HEADER_LINE("ff_jitter_factor", "%d",                currentPidProfile->feedforward_jitter_factor);
         BLACKBOX_PRINT_HEADER_LINE("ff_boost", "%d",                        currentPidProfile->feedforward_boost);
+        BLACKBOX_PRINT_HEADER_LINE("ff_max_rate_limit", "%d",               currentPidProfile->feedforward_max_rate_limit);
 #endif
 
         BLACKBOX_PRINT_HEADER_LINE("acc_limit_yaw", "%d",                   currentPidProfile->yawRateAccelLimit);

src/main/cli/settings.c

@@ -1052,7 +1052,6 @@ const clivalue_t valueTable[] = {
     { "anti_gravity_mode",          VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_ANTI_GRAVITY_MODE }, PG_PID_PROFILE, offsetof(pidProfile_t, antiGravityMode) },
     { "anti_gravity_threshold",     VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 20, 1000 }, PG_PID_PROFILE, offsetof(pidProfile_t, itermThrottleThreshold) },
     { "anti_gravity_gain",          VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { ITERM_ACCELERATOR_GAIN_OFF, ITERM_ACCELERATOR_GAIN_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, itermAcceleratorGain) },
-    { "feedforward_transition",     VAR_UINT8  | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_PID_PROFILE, offsetof(pidProfile_t, feedforwardTransition) },
     { "acc_limit_yaw",              VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 500 }, PG_PID_PROFILE, offsetof(pidProfile_t, yawRateAccelLimit) },
     { "acc_limit",                  VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 500 }, PG_PID_PROFILE, offsetof(pidProfile_t, rateAccelLimit) },
     { "crash_dthreshold",           VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 10, 2000 }, PG_PID_PROFILE, offsetof(pidProfile_t, crash_dthreshold) },
@@ -1151,12 +1150,13 @@ const clivalue_t valueTable[] = {
 #endif
 
 #ifdef USE_FEEDFORWARD
+    { "feedforward_transition",       VAR_UINT8  | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_PID_PROFILE, offsetof(pidProfile_t, feedforward_transition) },
     { "feedforward_averaging",        VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_FEEDFORWARD_AVERAGING }, PG_PID_PROFILE, offsetof(pidProfile_t, feedforward_averaging) },
     { "feedforward_smoothing",        VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = {0, 75}, PG_PID_PROFILE, offsetof(pidProfile_t, feedforward_smooth_factor) },
     { "feedforward_jitter_reduction", VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = {0, 20}, PG_PID_PROFILE, offsetof(pidProfile_t, feedforward_jitter_factor) },
+    { "feedforward_boost",            VAR_UINT8 | PROFILE_VALUE,  .config.minmaxUnsigned = { 0, 50 }, PG_PID_PROFILE, offsetof(pidProfile_t, feedforward_boost) },
     { "feedforward_max_rate_limit",   VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = {0, 150}, PG_PID_PROFILE, offsetof(pidProfile_t, feedforward_max_rate_limit) },
 #endif
-    { "feedforward_boost",            VAR_UINT8 | PROFILE_VALUE,  .config.minmaxUnsigned = { 0, 50 }, PG_PID_PROFILE, offsetof(pidProfile_t, feedforward_boost) },
 
 #ifdef USE_DYN_IDLE
     { "dyn_idle_min_rpm",           VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_PID_PROFILE, offsetof(pidProfile_t, dyn_idle_min_rpm) },

src/main/cms/cms_menu_imu.c

@@ -489,8 +489,6 @@ static CMS_Menu cmsx_menuLaunchControl = {
 };
 #endif
 
-static uint8_t  cmsx_feedforwardTransition;
-static uint8_t  cmsx_feedforward_boost;
 static uint8_t  cmsx_angleStrength;
 static uint8_t  cmsx_horizonStrength;
 static uint8_t  cmsx_horizonTransition;
@@ -517,6 +515,8 @@ static uint8_t cmsx_iterm_relax_cutoff;
 #endif
 
 #ifdef USE_FEEDFORWARD
+static uint8_t cmsx_feedforward_transition;
+static uint8_t cmsx_feedforward_boost;
 static uint8_t cmsx_feedforward_averaging;
 static uint8_t cmsx_feedforward_smooth_factor;
 static uint8_t cmsx_feedforward_jitter_factor;
@@ -530,9 +530,6 @@ static const void *cmsx_profileOtherOnEnter(displayPort_t *pDisp)
 
     const pidProfile_t *pidProfile = pidProfiles(pidProfileIndex);
 
-    cmsx_feedforwardTransition  = pidProfile->feedforwardTransition;
-    cmsx_feedforward_boost = pidProfile->feedforward_boost;
-
     cmsx_angleStrength =     pidProfile->pid[PID_LEVEL].P;
     cmsx_horizonStrength =   pidProfile->pid[PID_LEVEL].I;
     cmsx_horizonTransition = pidProfile->pid[PID_LEVEL].D;
@@ -560,7 +557,9 @@ static const void *cmsx_profileOtherOnEnter(displayPort_t *pDisp)
 #endif
 
 #ifdef USE_FEEDFORWARD
+    cmsx_feedforward_transition  = pidProfile->feedforward_transition;
     cmsx_feedforward_averaging = pidProfile->feedforward_averaging;
+    cmsx_feedforward_boost = pidProfile->feedforward_boost;
     cmsx_feedforward_smooth_factor = pidProfile->feedforward_smooth_factor;
     cmsx_feedforward_jitter_factor = pidProfile->feedforward_jitter_factor;
 #endif
@@ -577,9 +576,7 @@ static const void *cmsx_profileOtherOnExit(displayPort_t *pDisp, const OSD_Entry
     UNUSED(self);
 
     pidProfile_t *pidProfile = pidProfilesMutable(pidProfileIndex);
-    pidProfile->feedforwardTransition = cmsx_feedforwardTransition;
     pidInitConfig(currentPidProfile);
-    pidProfile->feedforward_boost = cmsx_feedforward_boost;
 
     pidProfile->pid[PID_LEVEL].P = cmsx_angleStrength;
     pidProfile->pid[PID_LEVEL].I = cmsx_horizonStrength;
@@ -608,7 +605,9 @@ static const void *cmsx_profileOtherOnExit(displayPort_t *pDisp, const OSD_Entry
 #endif
 
 #ifdef USE_FEEDFORWARD
+    pidProfile->feedforward_transition = cmsx_feedforward_transition;
     pidProfile->feedforward_averaging = cmsx_feedforward_averaging;
+    pidProfile->feedforward_boost = cmsx_feedforward_boost;
     pidProfile->feedforward_smooth_factor = cmsx_feedforward_smooth_factor;
     pidProfile->feedforward_jitter_factor = cmsx_feedforward_jitter_factor;
 #endif
@@ -624,13 +623,13 @@ static const void *cmsx_profileOtherOnExit(displayPort_t *pDisp, const OSD_Entry
 static const OSD_Entry cmsx_menuProfileOtherEntries[] = {
     { "-- OTHER PP --", OME_Label, NULL, pidProfileIndexString, 0 },
 
-    { "FF TRANSITION", OME_FLOAT,  NULL, &(OSD_FLOAT_t)  { &cmsx_feedforwardTransition,  0,    100,   1, 10 }, 0 },
 #ifdef USE_FEEDFORWARD
+    { "FF TRANSITION", OME_FLOAT,  NULL, &(OSD_FLOAT_t)  { &cmsx_feedforward_transition,        0,    100,   1, 10 }, 0 },
     { "FF AVERAGING",  OME_TAB,    NULL, &(OSD_TAB_t)    { &cmsx_feedforward_averaging,         4, lookupTableFeedforwardAveraging}, 0 },
     { "FF SMOOTHNESS", OME_UINT8,  NULL, &(OSD_UINT8_t)  { &cmsx_feedforward_smooth_factor,     0,     75,   1  }   , 0 },
     { "FF JITTER",     OME_UINT8,  NULL, &(OSD_UINT8_t)  { &cmsx_feedforward_jitter_factor,     0,     20,   1  }   , 0 },
-#endif
     { "FF BOOST",      OME_UINT8,  NULL, &(OSD_UINT8_t)  { &cmsx_feedforward_boost,             0,     50,   1  }   , 0 },
+#endif
     { "ANGLE STR",   OME_UINT8,  NULL, &(OSD_UINT8_t)  { &cmsx_angleStrength,          0,    200,   1  }   , 0 },
     { "HORZN STR",   OME_UINT8,  NULL, &(OSD_UINT8_t)  { &cmsx_horizonStrength,        0,    200,   1  }   , 0 },
     { "HORZN TRS",   OME_UINT8,  NULL, &(OSD_UINT8_t)  { &cmsx_horizonTransition,      0,    200,   1  }   , 0 },

src/main/fc/rc_adjustments.c

@@ -416,11 +416,13 @@ static int applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t a
         currentPidProfile->pid[PID_YAW].F = newValue;
         blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_F, newValue);
         break;
+#if defined(USE_FEEDFORWARD)
     case ADJUSTMENT_FEEDFORWARD_TRANSITION:
-        newValue = constrain(currentPidProfile->feedforwardTransition + delta, 1, 100); // FIXME magic numbers repeated in cli.c
+        newValue = constrain(currentPidProfile->feedforward_transition + delta, 1, 100); // FIXME magic numbers repeated in cli.c
-        currentPidProfile->feedforwardTransition = newValue;
+        currentPidProfile->feedforward_transition = newValue;
         blackboxLogInflightAdjustmentEvent(ADJUSTMENT_FEEDFORWARD_TRANSITION, newValue);
         break;
+#endif
     default:
         newValue = -1;
         break;
@@ -577,11 +579,13 @@ static int applyAbsoluteAdjustment(controlRateConfig_t *controlRateConfig, adjus
         currentPidProfile->pid[PID_YAW].F = newValue;
         blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_F, newValue);
         break;
+#if defined(USE_FEEDFORWARD)
     case ADJUSTMENT_FEEDFORWARD_TRANSITION:
         newValue = constrain(value, 1, 100); // FIXME magic numbers repeated in cli.c
-        currentPidProfile->feedforwardTransition = newValue;
+        currentPidProfile->feedforward_transition = newValue;
         blackboxLogInflightAdjustmentEvent(ADJUSTMENT_FEEDFORWARD_TRANSITION, newValue);
         break;
+#endif
     default:
         newValue = -1;
         break;

src/main/flight/feedforward.c

@@ -71,15 +71,16 @@ FAST_CODE_NOINLINE float feedforwardApply(int axis, bool newRcFrame, feedforward
         float setpointSpeed = (setpoint - prevSetpoint[axis]) * rxRate;
         float absPrevSetpointSpeed = fabsf(prevSetpointSpeed[axis]);
         float setpointAcceleration = 0.0f;
+        const float feedforwardTransitionFactor = pidGetFeedforwardTransitionFactor();
         const float feedforwardSmoothFactor = pidGetFeedforwardSmoothFactor();
         const float feedforwardJitterFactor = pidGetFeedforwardJitterFactor();
         float feedforward;
 
-        // calculate an attenuator from average of two most recent rcCommand deltas vs jitter threshold
         if (axis == FD_ROLL) {
             DEBUG_SET(DEBUG_FEEDFORWARD, 3, lrintf(rcCommandDelta * 100.0f)); // rcCommand packet difference = steps of 50 mean 2000 RC steps
         }
         rcCommandDelta = fabsf(rcCommandDelta);
+        // calculate the jitter attenuator from average of two most recent abs rcCommand deltas vs jitter threshold
         float jitterAttenuator = 1.0f;
         if (feedforwardJitterFactor) {
             if (rcCommandDelta < feedforwardJitterFactor) {
@@ -161,6 +162,10 @@ FAST_CODE_NOINLINE float feedforwardApply(int axis, bool newRcFrame, feedforward
         } else {
             setpointDelta[axis] = feedforward;
         }
+
+        // apply feedforward transition
+        setpointDelta[axis] *= feedforwardTransitionFactor > 0 ? MIN(1.0f, getRcDeflectionAbs(axis) * feedforwardTransitionFactor) : 1.0f;
+
     }
     return setpointDelta[axis];
 }

src/main/flight/pid.c

@@ -87,7 +87,7 @@ FAST_DATA_ZERO_INIT float throttleBoost;
 pt1Filter_t throttleLpf;
 #endif
 
-PG_REGISTER_WITH_RESET_TEMPLATE(pidConfig_t, pidConfig, PG_PID_CONFIG, 2);
+PG_REGISTER_WITH_RESET_TEMPLATE(pidConfig_t, pidConfig, PG_PID_CONFIG, 3);
 
 #if defined(STM32F1)
 #define PID_PROCESS_DENOM_DEFAULT       8
@@ -141,7 +141,7 @@ void resetPidProfile(pidProfile_t *pidProfile)
         .itermWindupPointPercent = 100,
         .pidAtMinThrottle = PID_STABILISATION_ON,
         .levelAngleLimit = 55,
-        .feedforwardTransition = 0,
+        .feedforward_transition = 0,
         .yawRateAccelLimit = 0,
         .rateAccelLimit = 0,
         .itermThrottleThreshold = 250,
@@ -256,12 +256,12 @@ void pidStabilisationState(pidStabilisationState_e pidControllerState)
 
 const angle_index_t rcAliasToAngleIndexMap[] = { AI_ROLL, AI_PITCH };
 
-float pidGetFeedforwardBoostFactor()
+#ifdef USE_FEEDFORWARD
+float pidGetFeedforwardTransitionFactor()
 {
-    return pidRuntime.feedforwardBoostFactor;
+    return pidRuntime.feedforwardTransitionFactor;
 }
 
-#ifdef USE_FEEDFORWARD
 float pidGetFeedforwardSmoothFactor()
 {
     return pidRuntime.feedforwardSmoothFactor;
@@ -271,6 +271,11 @@ float pidGetFeedforwardJitterFactor()
 {
     return pidRuntime.feedforwardJitterFactor;
 }
+
+float pidGetFeedforwardBoostFactor()
+{
+    return pidRuntime.feedforwardBoostFactor;
+}
 #endif
 
 void pidResetIterm(void)
@@ -1105,9 +1110,8 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, timeUs_t currentTim
         if (feedforwardGain > 0) {
             // halve feedforward in Level mode since stick sensitivity is weaker by about half
             feedforwardGain *= FLIGHT_MODE(ANGLE_MODE) ? 0.5f : 1.0f;
-            // no transition if feedforwardTransition == 0
+            // transition now calculated in feedforward.c when new RC data arrives 
-            float transition = pidRuntime.feedforwardTransition > 0 ? MIN(1.f, getRcDeflectionAbs(axis) * pidRuntime.feedforwardTransition) : 1;
+            float feedForward = feedforwardGain * pidSetpointDelta * pidRuntime.pidFrequency;
-            float feedForward = feedforwardGain * transition * pidSetpointDelta * pidRuntime.pidFrequency;
 
 #ifdef USE_FEEDFORWARD
             pidData[axis].F = shouldApplyFeedforwardLimits(axis) ?

src/main/flight/pid.h

@@ -161,7 +161,6 @@ typedef struct pidProfile_s {
     uint16_t crash_delay;                   // ms
     uint8_t crash_recovery_angle;           // degrees
     uint8_t crash_recovery_rate;            // degree/second
-    uint8_t feedforwardTransition;          // Feedforward attenuation around centre sticks
     uint16_t crash_limit_yaw;               // limits yaw errorRate, so crashes don't cause huge throttle increase
     uint16_t itermLimit;
     uint16_t dterm_lowpass2_hz;             // Extra PT1 Filter on D in hz
@@ -197,7 +196,6 @@ typedef struct pidProfile_s {
     uint8_t motor_output_limit;             // Upper limit of the motor output (percent)
     int8_t auto_profile_cell_count;         // Cell count for this profile to be used with if auto PID profile switching is used
     uint8_t transient_throttle_limit;       // Maximum DC component of throttle change to mix into throttle to prevent airmode mirroring noise
-    uint8_t feedforward_boost;              // amount of setpoint acceleration to add to feedforward, 10 means 100% added
     char profileName[MAX_PROFILE_NAME_LENGTH + 1]; // Descriptive name for profile
 
     uint8_t dyn_idle_min_rpm;                   // minimum motor speed enforced by the dynamic idle controller
@@ -206,10 +204,13 @@ typedef struct pidProfile_s {
     uint8_t dyn_idle_d_gain;                // D gain for corrections around rapid changes in rpm
     uint8_t dyn_idle_max_increase;          // limit on maximum possible increase in motor idle drive during active control
 
+    uint8_t feedforward_transition;          // Feedforward attenuation around centre sticks
     uint8_t feedforward_averaging;          // Number of packets to average when averaging is on
-    uint8_t feedforward_max_rate_limit;     // Maximum setpoint rate percentage for feedforward
     uint8_t feedforward_smooth_factor;      // Amount of lowpass type smoothing for feedforward steps
     uint8_t feedforward_jitter_factor;      // Number of RC steps below which to attenuate feedforward
+    uint8_t feedforward_boost;              // amount of setpoint acceleration to add to feedforward, 10 means 100% added
+    uint8_t feedforward_max_rate_limit;     // Maximum setpoint rate percentage for feedforward
+
     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
     uint8_t vbat_sag_compensation;          // Reduce motor output by this percentage of the maximum compensation amount
@@ -284,10 +285,8 @@ typedef struct pidRuntime_s {
     float antiGravityOsdCutoff;
     float antiGravityThrottleHpf;
     float antiGravityPBoost;
-    float feedforwardBoostFactor;
     float itermAccelerator;
     uint16_t itermAcceleratorGain;
-    float feedforwardTransition;
     pidCoefficient_t pidCoefficient[XYZ_AXIS_COUNT];
     float levelGain;
     float horizonGain;
@@ -385,9 +384,11 @@ typedef struct pidRuntime_s {
 #endif
 
 #ifdef USE_FEEDFORWARD
+    float feedforwardTransitionFactor;
     feedforwardAveraging_t feedforwardAveraging;
     float feedforwardSmoothFactor;
     float feedforwardJitterFactor;
+    float feedforwardBoostFactor;
 #endif
 } pidRuntime_t;
 
@@ -443,4 +444,5 @@ float pidGetPidFrequency();
 float pidGetFeedforwardBoostFactor();
 float pidGetFeedforwardSmoothFactor();
 float pidGetFeedforwardJitterFactor();
+float pidGetFeedforwardTransitionFactor();
 float dynLpfCutoffFreq(float throttle, uint16_t dynLpfMin, uint16_t dynLpfMax, uint8_t expo);

src/main/flight/pid_init.c

@@ -238,8 +238,6 @@ void pidInitFilters(const pidProfile_t *pidProfile)
 
     pt1FilterInit(&pidRuntime.antiGravityThrottleLpf, pt1FilterGain(ANTI_GRAVITY_THROTTLE_FILTER_CUTOFF, pidRuntime.dT));
     pt1FilterInit(&pidRuntime.antiGravitySmoothLpf, pt1FilterGain(ANTI_GRAVITY_SMOOTH_FILTER_CUTOFF, pidRuntime.dT));
-
-    pidRuntime.feedforwardBoostFactor = (float)pidProfile->feedforward_boost / 10.0f;
 }
 
 void pidInit(const pidProfile_t *pidProfile)
@@ -276,11 +274,6 @@ void pidUpdateFeedforwardLpf(uint16_t filterCutoff)
 
 void pidInitConfig(const pidProfile_t *pidProfile)
 {
-    if (pidProfile->feedforwardTransition == 0) {
-        pidRuntime.feedforwardTransition = 0;
-    } else {
-        pidRuntime.feedforwardTransition = 100.0f / pidProfile->feedforwardTransition;
-    }
     for (int axis = FD_ROLL; axis <= FD_YAW; axis++) {
         pidRuntime.pidCoefficient[axis].Kp = PTERM_SCALE * pidProfile->pid[axis].P;
         pidRuntime.pidCoefficient[axis].Ki = ITERM_SCALE * pidProfile->pid[axis].I;
@@ -422,12 +415,18 @@ void pidInitConfig(const pidProfile_t *pidProfile)
 #endif
 
 #ifdef USE_FEEDFORWARD
+    if (pidProfile->feedforward_transition == 0) {
+        pidRuntime.feedforwardTransitionFactor = 0;
+    } else {
+        pidRuntime.feedforwardTransitionFactor = 100.0f / pidProfile->feedforward_transition;
+    }
     pidRuntime.feedforwardAveraging = pidProfile->feedforward_averaging;
     pidRuntime.feedforwardSmoothFactor = 1.0f;
     if (pidProfile->feedforward_smooth_factor) {
         pidRuntime.feedforwardSmoothFactor = 1.0f - ((float)pidProfile->feedforward_smooth_factor) / 100.0f;
     }
     pidRuntime.feedforwardJitterFactor = pidProfile->feedforward_jitter_factor;
+    pidRuntime.feedforwardBoostFactor = (float)pidProfile->feedforward_boost / 10.0f;
     feedforwardInit(pidProfile);
 #endif
 

src/main/msp/msp.c

@@ -1823,7 +1823,11 @@ static bool mspProcessOutCommand(int16_t cmdMSP, sbuf_t *dst)
         sbufWriteU16(dst, 0); // was pidProfile.yaw_p_limit
         sbufWriteU8(dst, 0); // reserved
         sbufWriteU8(dst, 0); // was vbatPidCompensation
-        sbufWriteU8(dst, currentPidProfile->feedforwardTransition);
+#if defined(USE_FEEDFORWARD)
+        sbufWriteU8(dst, currentPidProfile->feedforward_transition);
+#else
+        sbufWriteU8(dst, 0);
+#endif
         sbufWriteU8(dst, 0); // was low byte of currentPidProfile->dtermSetpointWeight
         sbufWriteU8(dst, 0); // reserved
         sbufWriteU8(dst, 0); // reserved
@@ -1902,11 +1906,12 @@ static bool mspProcessOutCommand(int16_t cmdMSP, sbuf_t *dst)
 #if defined(USE_FEEDFORWARD)
         sbufWriteU8(dst, currentPidProfile->feedforward_averaging);
         sbufWriteU8(dst, currentPidProfile->feedforward_smooth_factor);
+        sbufWriteU8(dst, currentPidProfile->feedforward_boost);
 #else
         sbufWriteU8(dst, 0);
         sbufWriteU8(dst, 0);
+        sbufWriteU8(dst, 0);
 #endif
-        sbufWriteU8(dst, currentPidProfile->feedforward_boost);
 #if defined(USE_BATTERY_VOLTAGE_SAG_COMPENSATION)
         sbufWriteU8(dst, currentPidProfile->vbat_sag_compensation);
 #else
@@ -2708,7 +2713,11 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
         sbufReadU16(src); // was pidProfile.yaw_p_limit
         sbufReadU8(src); // reserved
         sbufReadU8(src); // was vbatPidCompensation
-        currentPidProfile->feedforwardTransition = sbufReadU8(src);
+#if defined(USE_FEEDFORWARD)
+        currentPidProfile->feedforward_transition = sbufReadU8(src);
+#else
+        sbufReadU8(src);
+#endif
         sbufReadU8(src); // was low byte of currentPidProfile->dtermSetpointWeight
         sbufReadU8(src); // reserved
         sbufReadU8(src); // reserved
@@ -2805,11 +2814,13 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
 #if defined(USE_FEEDFORWARD)
             currentPidProfile->feedforward_averaging = sbufReadU8(src);
             currentPidProfile->feedforward_smooth_factor = sbufReadU8(src);
+            currentPidProfile->feedforward_boost = sbufReadU8(src);
 #else
             sbufReadU8(src);
             sbufReadU8(src);
+            sbufReadU8(src);
 #endif
-            currentPidProfile->feedforward_boost = sbufReadU8(src);
+
 #if defined(USE_BATTERY_VOLTAGE_SAG_COMPENSATION)
             currentPidProfile->vbat_sag_compensation = sbufReadU8(src);
 #else

src/main/target/ALIENWHOOP/config.c

@@ -131,7 +131,7 @@ void targetConfiguration(void)
         pidProfile->dterm_notch_hz = 0;
         pidProfile->pid[PID_PITCH].F = 100;
         pidProfile->pid[PID_ROLL].F = 100;
-        pidProfile->feedforwardTransition = 0;
+        pidProfile->feedforward_transition = 0;
 
 	/* Anti-Gravity */
 	pidProfile->itermThrottleThreshold = 500;

src/main/target/NAZE/config.c

@@ -88,7 +88,7 @@ void targetConfiguration(void)
 
         pidProfile->pid[PID_PITCH].F = 200;
         pidProfile->pid[PID_ROLL].F = 200;
-        pidProfile->feedforwardTransition = 50;
+        pidProfile->feedforward_transition = 50;
     }
 
     for (uint8_t rateProfileIndex = 0; rateProfileIndex < CONTROL_RATE_PROFILE_COUNT; rateProfileIndex++) {

src/test/unit/pid_unittest.cc

@@ -101,7 +101,10 @@ extern "C" {
     {
         UNUSED(newRcFrame);
         UNUSED(feedforwardAveraging);
-        return simulatedSetpointRate[axis] - simulatedPrevSetpointRate[axis];
+        const float feedforwardTransitionFactor = pidGetFeedforwardTransitionFactor();
+        float setpointDelta = simulatedSetpointRate[axis] - simulatedPrevSetpointRate[axis];
+        setpointDelta *= feedforwardTransitionFactor > 0 ? MIN(1.0f, getRcDeflectionAbs(axis) * feedforwardTransitionFactor) : 1;
+        return setpointDelta;
     }
     bool shouldApplyFeedforwardLimits(int axis)
     {
@@ -139,7 +142,7 @@ void setDefaultTestSettings(void) {
     pidProfile->itermWindupPointPercent = 50;
     pidProfile->pidAtMinThrottle = PID_STABILISATION_ON;
     pidProfile->levelAngleLimit = 55;
-    pidProfile->feedforwardTransition = 100;
+    pidProfile->feedforward_transition = 100;
     pidProfile->yawRateAccelLimit = 100;
     pidProfile->rateAccelLimit = 0;
     pidProfile->antiGravityMode = ANTI_GRAVITY_SMOOTH;