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Implement throttle based dynamic gyro and dterm filters.
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7 changed files with 213 additions and 28 deletions
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@ -815,7 +815,11 @@ FAST_CODE_NOINLINE void mixTable(timeUs_t currentTimeUs, uint8_t vbatPidCompensa
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}
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pidUpdateAntiGravityThrottleFilter(throttle);
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#ifdef USE_DYN_LPF
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dynLpfGyroUpdate(throttle);
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dynLpfDTermUpdate(throttle);
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#endif
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#if defined(USE_THROTTLE_BOOST)
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if (throttleBoost > 0.0f) {
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const float throttleHpf = throttle - pt1FilterApply(&throttleLpf, throttle);
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