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Code Issues Wiki Activity

ff from interpolated setpoint

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This commit is contained in:
Thorsten Laux 2019-02-22 08:23:45 +01:00
parent 3ba5f7e819
commit 91ad2498ff
13 changed files with 319 additions and 5 deletions
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8
src/main/flight/pid.h
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@ -170,6 +170,7 @@ 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 ff_boost; // amount of high-pass filtered FF to add to FF, 100 means 100% added
char profileName[MAX_PROFILE_NAME_LENGTH + 1]; // Descriptive name for profile
uint8_t idle_min_rpm; // minimum motor speed enforced by integrating p controller
@ -178,7 +179,10 @@ typedef struct pidProfile_s {
uint8_t idle_pid_limit; // max P
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
} pidProfile_t;
PG_DECLARE_ARRAY(pidProfile_t, PID_PROFILE_COUNT, pidProfiles);
@ -255,4 +259,4 @@ void pidSetItermReset(bool enabled);
float pidGetPreviousSetpoint(int axis);
float pidGetDT();
float pidGetPidFrequency();
float pidGetFfBoostFactor();