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BossHobby / QUICKSILVER

Flight Controller Firmware
MIT License
171 stars 40 forks source link

Changes to iterm relax and adding direct FF #41

Closed Quick-Flash closed 1 year ago

Quick-Flash commented 2 years ago

Changed iterm relax so that rather than an off/on case it will grow and disappear. Also added some amount of iterm relax effect to yaw, which should help with some iterm windup. Yaw has its own iterm relax values.

Added direct FF and made setpoint always calculated. This means that in angle mode dterm setpoint weight has effect in angle mode as well as direct FF. Direct FF scales with your setpoint giving a push based on how large your setpoint is. This works very well on yaw as yaw always needs some amount of push, which this can approximate. It also works well in angle mode as it allows angle mode to directly effect the rate pidsum (as now angle mode creates a setpoint) and adds an extra "kick" in angle mode that is different than what angle Pterm does.

TODO: recode the direct ff so that it is much easier for users to tune and use. Just need to figure out the proper way that it should be done, open for help with that if this feature proves desirable.

Would love to hear users experience with both these features.

bkleiner commented 2 years ago

gotta figure out a good way to build and attach hexes to PRs so we can have people test it

bkleiner commented 2 years ago

the iterm portion of this PR has been fixed up and separated out to https://github.com/BossHobby/QUICKSILVER/pull/57 and is currently undergoing testing.

bkleiner commented 1 year ago

Closing as outdated. If we were to got forward, we can pull changes manually.