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Merge pull request #10778 from ctzsnooze/Allow-feedforward-in-Level-and-Horizon

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Michael Keller 2021-08-30 01:20:03 +12:00 committed by GitHub
parent 3b5c1372d4 15a60b9e1f
commit 86aa5cc84e
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1 changed files with 4 additions and 2 deletions
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6
src/main/flight/pid.c
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@ -1100,9 +1100,11 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, timeUs_t currentTim
pidRuntime.oldSetpointCorrection[axis] = setpointCorrection;
#endif
// Only enable feedforward for rate mode and if launch control is inactive
const float feedforwardGain = (flightModeFlags || launchControlActive) ? 0.0f : pidRuntime.pidCoefficient[axis].Kf;
// no feedforward in launch control
float feedforwardGain = launchControlActive ? 0.0f : pidRuntime.pidCoefficient[axis].Kf;
if (feedforwardGain > 0) {
// halve feedforward in Level mode since stick sensitivity is weaker by about half
feedforwardGain *= FLIGHT_MODE(ANGLE_MODE) ? 0.5f : 1.0f;
// no transition if feedforwardTransition == 0
float transition = pidRuntime.feedforwardTransition > 0 ? MIN(1.f, getRcDeflectionAbs(axis) * pidRuntime.feedforwardTransition) : 1;
float feedForward = feedforwardGain * transition * pidSetpointDelta * pidRuntime.pidFrequency;