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Added motor output limiting per profile.
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5 changed files with 28 additions and 11 deletions
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@ -164,6 +164,7 @@ typedef struct pidProfile_s {
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uint8_t dterm_cut_gain; // Gain factor for amount of gyro activity required to remove the dterm cut
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uint8_t dterm_cut_range_hz; // Biquad to prevent high frequency gyro noise from removing the dterm cut
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uint8_t dterm_cut_lowpass_hz; // First order lowpass to delay and smooth dterm cut factor
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uint8_t motor_output_limit; // Upper limit of the motor output (percent)
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} pidProfile_t;
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PG_DECLARE_ARRAY(pidProfile_t, MAX_PROFILE_COUNT, pidProfiles);
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