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Refactor BiQuad // Set filters to floats

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borisbstyle 2016-02-03 13:46:56 +01:00
parent 403812c45f
commit eebacc2542
10 changed files with 32 additions and 39 deletions
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4
src/main/flight/pid.c
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@ -142,7 +142,7 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
float horizonLevelStrength = 1;
if (!deltaStateIsSet && pidProfile->dterm_lpf_hz) {
for (axis = 0; axis < 3; axis++) BiQuadNewLpf(pidProfile->dterm_lpf_hz, &deltaBiQuadState[axis], 0);
for (axis = 0; axis < 3; axis++) BiQuadNewLpf(pidProfile->dterm_lpf_hz, &deltaBiQuadState[axis], targetLooptime);
deltaStateIsSet = true;
}
@ -284,7 +284,7 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
int8_t horizonLevelStrength = 100;
if (!deltaStateIsSet && pidProfile->dterm_lpf_hz) {
for (axis = 0; axis < 3; axis++) BiQuadNewLpf(pidProfile->dterm_lpf_hz, &deltaBiQuadState[axis], 0);
for (axis = 0; axis < 3; axis++) BiQuadNewLpf(pidProfile->dterm_lpf_hz, &deltaBiQuadState[axis], targetLooptime);
deltaStateIsSet = true;
}