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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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src/main/flight/pid_init.c
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@ -392,6 +392,7 @@ void pidInitConfig(const pidProfile_t *pidProfile)
// set automatically according to boost amount, limit to 0.5 for auto
pidRuntime.ffSmoothFactor = MAX(0.5f, 1.0f - ((float)pidProfile->ff_boost) * 2.0f / 100.0f);
}
pidRuntime.ffJitterFactor = pidProfile->ff_jitter_factor;
interpolatedSpInit(pidProfile);
#endif