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Added validation checks for interpolation settings, made throttle boost conditional.

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This commit is contained in:
mikeller 2018-06-04 23:19:05 +12:00
parent 91013da2cc
commit a373204d7a
5 changed files with 29 additions and 2 deletions
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6
src/main/flight/pid.c
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@ -294,7 +294,9 @@ void pidInitFilters(const pidProfile_t *pidProfile)
pt1FilterInit(&ptermYawLowpass, pt1FilterGain(pidProfile->yaw_lowpass_hz, dT));
}
#if defined(USE_THROTTLE_BOOST)
pt1FilterInit(&throttleLpf, pt1FilterGain(pidProfile->throttle_boost_cutoff, dT));
#endif
#if defined(USE_ITERM_RELAX)
if (itermRelax) {
for (int i = 0; i < XYZ_AXIS_COUNT; i++) {
@ -345,8 +347,10 @@ static FAST_RAM_ZERO_INIT float crashGyroThreshold;
static FAST_RAM_ZERO_INIT float crashSetpointThreshold;
static FAST_RAM_ZERO_INIT float crashLimitYaw;
static FAST_RAM_ZERO_INIT float itermLimit;
#if defined(USE_THROTTLE_BOOST)
FAST_RAM_ZERO_INIT float throttleBoost;
pt1Filter_t throttleLpf;
#endif
static FAST_RAM_ZERO_INIT bool itermRotation;
#if defined(USE_SMART_FEEDFORWARD)
@ -411,7 +415,9 @@ void pidInitConfig(const pidProfile_t *pidProfile)
crashSetpointThreshold = pidProfile->crash_setpoint_threshold;
crashLimitYaw = pidProfile->crash_limit_yaw;
itermLimit = pidProfile->itermLimit;
#if defined(USE_THROTTLE_BOOST)
throttleBoost = pidProfile->throttle_boost * 0.1f;
#endif
itermRotation = pidProfile->iterm_rotation;
#if defined(USE_SMART_FEEDFORWARD)
smartFeedforward = pidProfile->smart_feedforward;