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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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12
src/main/fc/rc.c
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@ -61,7 +61,11 @@ typedef float (applyRatesFn)(const int axis, float rcCommandf, const float rcCom
#ifdef USE_INTERPOLATED_SP
// Setpoint in degrees/sec before RC-Smoothing is applied
static float rawSetpoint[XYZ_AXIS_COUNT];
static float oldRcCommand[XYZ_AXIS_COUNT];
static bool isDuplicate[XYZ_AXIS_COUNT];
float rcCommandDelta[XYZ_AXIS_COUNT];
#endif
static float setpointRate[3], rcDeflection[3], rcDeflectionAbs[3];
static float throttlePIDAttenuation;
static bool reverseMotors = false;
@ -132,6 +136,11 @@ float getRawSetpoint(int axis)
return rawSetpoint[axis];
}
float getRcCommandDelta(int axis)
{
return rcCommandDelta[axis];
}
#endif
#define THROTTLE_LOOKUP_LENGTH 12
@ -636,6 +645,9 @@ FAST_CODE void processRcCommand(void)
#ifdef USE_INTERPOLATED_SP
if (isRxDataNew) {
for (int i = FD_ROLL; i <= FD_YAW; i++) {
isDuplicate[i] = (oldRcCommand[i] == rcCommand[i]);
rcCommandDelta[i] = fabsf(rcCommand[i] - oldRcCommand[i]);
oldRcCommand[i] = rcCommand[i];
float rcCommandf;
if (i == FD_YAW) {
rcCommandf = rcCommand[i] / rcCommandYawDivider;