Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-25 09:16:07 +03:00
Code Issues Wiki Activity

PT2 and PT3 filter maths PT3 for RC smoothing

Browse source
This commit is contained in:
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
Download patch file Download diff file Expand all files Collapse all files

3
src/main/flight/pid.h
View file

@ -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;