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using same curve of dyn dterm lpf

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This commit is contained in:
Nicola De Pasquale 2020-08-08 15:36:28 +02:00
parent 988024ee4e
commit d0fe84528a
6 changed files with 14 additions and 5 deletions
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4
src/main/flight/pid.c
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@ -1189,7 +1189,7 @@ void dynLpfDTermUpdate(float throttle)
static unsigned int cutoffFreq;
if (pidRuntime.dynLpfFilter != DYN_LPF_NONE) {
if (pidRuntime.dynLpfCurveExpo > 0) {
cutoffFreq = dynDtermLpfCutoffFreq(throttle, pidRuntime.dynLpfMin, pidRuntime.dynLpfMax, pidRuntime.dynLpfCurveExpo);
cutoffFreq = dynLpfCutoffFreq(throttle, pidRuntime.dynLpfMin, pidRuntime.dynLpfMax, pidRuntime.dynLpfCurveExpo);
} else {
cutoffFreq = fmax(dynThrottle(throttle) * pidRuntime.dynLpfMax, pidRuntime.dynLpfMin);
}
@ -1207,7 +1207,7 @@ void dynLpfDTermUpdate(float throttle)
}
#endif
float dynDtermLpfCutoffFreq(float throttle, uint16_t dynLpfMin, uint16_t dynLpfMax, uint8_t expo) {
float dynLpfCutoffFreq(float throttle, uint16_t dynLpfMin, uint16_t dynLpfMax, uint8_t expo) {
const float expof = expo / 10.0f;
static float curve;
curve = throttle * (1 - throttle) * expof + throttle;