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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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8
src/main/flight/pid.c
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@ -205,7 +205,8 @@ void resetPidProfile(pidProfile_t *pidProfile)
.dyn_idle_max_increase = 150,
.ff_interpolate_sp = FF_INTERPOLATE_ON,
.ff_max_rate_limit = 100,
.ff_smooth_factor = 0,
.ff_smooth_factor = 37,
.ff_jitter_factor = 7,
.ff_boost = 15,
.dyn_lpf_curve_expo = 5,
.level_race_mode = false,
@ -266,6 +267,11 @@ float pidGetFfSmoothFactor()
{
return pidRuntime.ffSmoothFactor;
}
float pidGetFfJitterFactor()
{
return pidRuntime.ffJitterFactor;
}
#endif
void pidResetIterm(void)