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Update RC smoothing "auto" settings to consider interpolated feedforward

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Allows default settings for RC smoothing to work seamlessly regardless of the feedforward type selected ("classic" vs. interpolated).

Adds a new "AUTO" setting for the derivative filter type that will select based on whether interpolated feedforward is enabled (use PT1) or not (use BIQUAD). The derivative filter cutoff if set to auto (0) will also use a fixed cutoff calculated from a 100hz base if interpolated feedforward is enabled. Otherwise if classic FF is active then it will default to the previous method of calculating the cutoff based on the RX frame rate.
This commit is contained in:
Bruce Luckcuck 2019-11-28 11:34:52 -05:00
parent cb538ea2ed
commit b2a50819a3
5 changed files with 50 additions and 19 deletions
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11
src/main/cli/cli.c
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@ -4816,16 +4816,19 @@ static void cliRcSmoothing(char *cmdline)
cliPrintLinef("%d.%dms", avgRxFrameMs / 1000, avgRxFrameMs % 1000);
}
}
cliPrint("# Input filter type: ");
cliPrintLinef(lookupTables[TABLE_RC_SMOOTHING_INPUT_TYPE].values[rcSmoothingData->inputFilterType]);
cliPrintLinef("# Input filter type: %s", lookupTables[TABLE_RC_SMOOTHING_INPUT_TYPE].values[rcSmoothingData->inputFilterType]);
cliPrintf("# Active input cutoff: %dhz ", rcSmoothingData->inputCutoffFrequency);
if (rcSmoothingData->inputCutoffSetting == 0) {
cliPrintLine("(auto)");
} else {
cliPrintLine("(manual)");
}
cliPrint("# Derivative filter type: ");
cliPrintLinef(lookupTables[TABLE_RC_SMOOTHING_DERIVATIVE_TYPE].values[rcSmoothingData->derivativeFilterType]);
cliPrintf("# Derivative filter type: %s", lookupTables[TABLE_RC_SMOOTHING_DERIVATIVE_TYPE].values[rcSmoothingData->derivativeFilterType]);
if (rcSmoothingData->derivativeFilterTypeSetting == RC_SMOOTHING_DERIVATIVE_AUTO) {
cliPrintLine(" (auto)");
} else {
cliPrintLinefeed();
}
cliPrintf("# Active derivative cutoff: %dhz (", rcSmoothingData->derivativeCutoffFrequency);
if (rcSmoothingData->derivativeFilterType == RC_SMOOTHING_DERIVATIVE_OFF) {
cliPrintLine("off)");