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Add late P boost to antigravity

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This commit is contained in:
ctzsnooze 2020-09-05 21:52:19 +10:00
parent de35df8e07
commit d1bf5d0d11
3 changed files with 51 additions and 5 deletions
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4
src/main/flight/pid_init.c
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@ -54,6 +54,7 @@
#endif
#define ANTI_GRAVITY_THROTTLE_FILTER_CUTOFF 15 // The anti gravity throttle highpass filter cutoff
#define ANTI_GRAVITY_SMOOTH_FILTER_CUTOFF 3 // The anti gravity P smoothing filter cutoff
static void pidSetTargetLooptime(uint32_t pidLooptime)
{
@ -202,6 +203,7 @@ void pidInitFilters(const pidProfile_t *pidProfile)
#endif
pt1FilterInit(&pidRuntime.antiGravityThrottleLpf, pt1FilterGain(ANTI_GRAVITY_THROTTLE_FILTER_CUTOFF, pidRuntime.dT));
pt1FilterInit(&pidRuntime.antiGravitySmoothLpf, pt1FilterGain(ANTI_GRAVITY_SMOOTH_FILTER_CUTOFF, pidRuntime.dT));
pidRuntime.ffBoostFactor = (float)pidProfile->ff_boost / 10.0f;
}
@ -309,7 +311,7 @@ void pidInitConfig(const pidProfile_t *pidProfile)
// of AG activity without excessive display.
pidRuntime.antiGravityOsdCutoff = 0.0f;
if (pidRuntime.antiGravityMode == ANTI_GRAVITY_SMOOTH) {
pidRuntime.antiGravityOsdCutoff += ((pidRuntime.itermAcceleratorGain - 1000) / 1000.0f) * 0.25f;
pidRuntime.antiGravityOsdCutoff += (pidRuntime.itermAcceleratorGain / 1000.0f) * 0.25f;
}
#if defined(USE_ITERM_RELAX)