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Implement throttle based dynamic gyro and dterm filters.

This commit is contained in:
Kenneth Mitchell 2018-09-18 20:22:38 -04:00
parent c222f692ea
commit ca460e842b
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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
}
pidUpdateAntiGravityThrottleFilter(throttle);
#ifdef USE_DYN_LPF
dynLpfGyroUpdate(throttle);
dynLpfDTermUpdate(throttle);
#endif
#if defined(USE_THROTTLE_BOOST)
if (throttleBoost > 0.0f) {
const float throttleHpf = throttle - pt1FilterApply(&throttleLpf, throttle);