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31 lines
1.1 KiB
C
31 lines
1.1 KiB
C
/*
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* This file is part of Cleanflight and Betaflight.
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*
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* Cleanflight and Betaflight are free software. You can redistribute
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* this software and/or modify this software under the terms of the
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* GNU General Public License as published by the Free Software
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* Foundation, either version 3 of the License, or (at your option)
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* any later version.
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*
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* Cleanflight and Betaflight are distributed in the hope that they
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* will be useful, but WITHOUT ANY WARRANTY; without even the implied
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* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this software.
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*
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* If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include <stdint.h>
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#include "common/axis.h"
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#include "flight/pid.h"
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void feedforwardInit(const pidProfile_t *pidProfile);
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float feedforwardApply(int axis, bool newRcFrame, feedforwardAveraging_t feedforwardAveraging);
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float applyFeedforwardLimit(int axis, float value, float Kp, float currentPidSetpoint);
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bool shouldApplyFeedforwardLimits(int axis);
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