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fixes for ff_boost

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1.  Excludes yaw from ff_boost.
2.  Removes suppression for 3x greater up-steps in FF to reduce boost glitching around zero sticks
3.  Spike detection gets cleaner passband and tighter rejection above threshold; higher threshold is now possible with better suppression of large spikes.
This commit is contained in:
ctzsnooze 2019-09-10 19:08:20 +10:00
parent aeaf1acf4d
commit e1a8a80584
2 changed files with 11 additions and 10 deletions
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2
src/main/flight/pid.c
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@ -213,7 +213,7 @@ void resetPidProfile(pidProfile_t *pidProfile)
.idle_pid_limit = 200,
.idle_max_increase = 150,
.ff_interpolate_sp = FF_INTERPOLATE_AVG,
.ff_spike_limit = 40,
.ff_spike_limit = 60,
.ff_max_rate_limit = 100,
.ff_boost = 15,
);