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feed forward jitter improvements

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This commit is contained in:
ctzsnooze 2021-04-27 08:20:35 +10:00
parent 3ae7e917b7
commit d4f0ec2d0a
8 changed files with 88 additions and 89 deletions
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4
src/main/cms/cms_menu_imu.c
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@ -519,6 +519,7 @@ static uint8_t cmsx_iterm_relax_cutoff;
#ifdef USE_INTERPOLATED_SP
static uint8_t cmsx_ff_interpolate_sp;
static uint8_t cmsx_ff_smooth_factor;
static uint8_t cmsx_ff_jitter_factor;
#endif
static const void *cmsx_profileOtherOnEnter(displayPort_t *pDisp)
@ -561,6 +562,7 @@ static const void *cmsx_profileOtherOnEnter(displayPort_t *pDisp)
#ifdef USE_INTERPOLATED_SP
cmsx_ff_interpolate_sp = pidProfile->ff_interpolate_sp;
cmsx_ff_smooth_factor = pidProfile->ff_smooth_factor;
cmsx_ff_jitter_factor = pidProfile->ff_jitter_factor;
#endif
#ifdef USE_BATTERY_VOLTAGE_SAG_COMPENSATION
@ -608,6 +610,7 @@ static const void *cmsx_profileOtherOnExit(displayPort_t *pDisp, const OSD_Entry
#ifdef USE_INTERPOLATED_SP
pidProfile->ff_interpolate_sp = cmsx_ff_interpolate_sp;
pidProfile->ff_smooth_factor = cmsx_ff_smooth_factor;
pidProfile->ff_jitter_factor = cmsx_ff_jitter_factor;
#endif
#ifdef USE_BATTERY_VOLTAGE_SAG_COMPENSATION
@ -625,6 +628,7 @@ static const OSD_Entry cmsx_menuProfileOtherEntries[] = {
#ifdef USE_INTERPOLATED_SP
{ "FF MODE", OME_TAB, NULL, &(OSD_TAB_t) { &cmsx_ff_interpolate_sp, 4, lookupTableInterpolatedSetpoint}, 0 },
{ "FF SMOOTHNESS", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_ff_smooth_factor, 0, 75, 1 } , 0 },
{ "FF JITTER", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_ff_jitter_factor, 0, 20, 1 } , 0 },
#endif
{ "FF BOOST", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_ff_boost, 0, 50, 1 } , 0 },
{ "ANGLE STR", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_angleStrength, 0, 200, 1 } , 0 },