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Code Issues Wiki Activity

First attempt low throttle airmode oscillation fix

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raise dc offset immediately

Add airmode noise fix

no filter when inactive and slightly more throttle

hpf throttle to avoid large moves increasing throttle persistently

fix ws

fix ununsed variable and default to off

include airmode throttle offset in loggingThrottle
This commit is contained in:
Thorsten Laux 2019-01-26 12:28:51 +01:00 • committed by mikeller
parent 966971c750
commit e16ef1db4f
5 changed files with 66 additions and 0 deletions
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5
src/main/flight/pid.h
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@ -165,6 +165,7 @@ typedef struct pidProfile_s {
uint8_t d_min_advance; // Percentage multiplier for setpoint input to boost algorithm
uint8_t motor_output_limit; // Upper limit of the motor output (percent)
int8_t auto_profile_cell_count; // Cell count for this profile to be used with if auto PID profile switching is used
uint8_t transient_throttle_limit; // Maximum DC component of throttle change to mix into throttle to prevent airmode mirroring noise
} pidProfile_t;
PG_DECLARE_ARRAY(pidProfile_t, PID_PROFILE_COUNT, pidProfiles);
@ -220,6 +221,10 @@ bool pidAntiGravityEnabled(void);
float pidApplyThrustLinearization(float motorValue);
float pidCompensateThrustLinearization(float throttle);
#endif
#ifdef USE_AIRMODE_LPF
void pidUpdateAirmodeLpf(float currentOffset);
float pidGetAirmodeThrottleOffset();
#endif
#ifdef UNIT_TEST
#include "sensors/acceleration.h"