Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-23 16:25:31 +03:00
Code Issues Wiki Activity

feed forward jitter improvements

Browse source
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
Download patch file Download diff file Expand all files Collapse all files

3
src/main/flight/pid.h
View file

@ -210,6 +210,7 @@ typedef struct pidProfile_s {
uint8_t ff_interpolate_sp; // Calculate FF from interpolated setpoint
uint8_t ff_max_rate_limit; // Maximum setpoint rate percentage for FF
uint8_t ff_smooth_factor; // Amount of smoothing for interpolated FF steps
uint8_t ff_jitter_factor; // Number of RC steps below which to attenuate FF
uint8_t dyn_lpf_curve_expo; // set the curve for dynamic dterm lowpass filter
uint8_t level_race_mode; // NFE race mode - when true pitch setpoint calcualtion is gyro based in level mode
uint8_t vbat_sag_compensation; // Reduce motor output by this percentage of the maximum compensation amount
@ -385,6 +386,7 @@ typedef struct pidRuntime_s {
#ifdef USE_INTERPOLATED_SP
ffInterpolationType_t ffFromInterpolatedSetpoint;
float ffSmoothFactor;
float ffJitterFactor;
#endif
} pidRuntime_t;
@ -439,4 +441,5 @@ float pidGetDT();
float pidGetPidFrequency();
float pidGetFfBoostFactor();
float pidGetFfSmoothFactor();
float pidGetFfJitterFactor();
float dynLpfCutoffFreq(float throttle, uint16_t dynLpfMin, uint16_t dynLpfMax, uint8_t expo);