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PT2 and PT3 filter maths PT3 for RC smoothing

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ctzsnooze 2021-04-26 11:18:11 +10:00 • committed by mikeller
parent a5d0f7e457
commit a096c99664
14 changed files with 132 additions and 165 deletions
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3
src/main/flight/pid.h
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@ -340,8 +340,7 @@ typedef struct pidRuntime_s {
#endif
#ifdef USE_RC_SMOOTHING_FILTER
pt1Filter_t setpointDerivativePt1[XYZ_AXIS_COUNT];
biquadFilter_t setpointDerivativeBiquad[XYZ_AXIS_COUNT];
pt3Filter_t setpointDerivativePt3[XYZ_AXIS_COUNT];
bool setpointDerivativeLpfInitialized;
uint8_t rcSmoothingDebugAxis;
uint8_t rcSmoothingFilterType;