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allow negative ff-boost #798

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allow negative ff-boost #798

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10 changes: 5 additions & 5 deletions src/main/cli/settings.c
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Original file line number Diff line number Diff line change
Expand Up @@ -660,7 +660,7 @@ const lookupTableEntry_t lookupTables[] = {
const clivalue_t valueTable[] = {
// PG_GYRO_CONFIG
{ PARAM_NAME_GYRO_HARDWARE_LPF, VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_GYRO_HARDWARE_LPF }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_hardware_lpf) },

#if defined(USE_GYRO_SPI_ICM20649)
{ "gyro_high_range", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_high_fsr) },
#endif
Expand Down Expand Up @@ -1184,10 +1184,10 @@ const clivalue_t valueTable[] = {
#ifdef USE_FEEDFORWARD
{ PARAM_NAME_FEEDFORWARD_TRANSITION, VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_PID_PROFILE, offsetof(pidProfile_t, feedforward_transition) },
{ PARAM_NAME_FEEDFORWARD_AVERAGING, VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_FEEDFORWARD_AVERAGING }, PG_PID_PROFILE, offsetof(pidProfile_t, feedforward_averaging) },
{ PARAM_NAME_FEEDFORWARD_SMOOTH_FACTOR, VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = {0, 75}, PG_PID_PROFILE, offsetof(pidProfile_t, feedforward_smooth_factor) },
{ PARAM_NAME_FEEDFORWARD_JITTER_FACTOR, VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = {0, 20}, PG_PID_PROFILE, offsetof(pidProfile_t, feedforward_jitter_factor) },
{ PARAM_NAME_FEEDFORWARD_BOOST, VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 50 }, PG_PID_PROFILE, offsetof(pidProfile_t, feedforward_boost) },
{ PARAM_NAME_FEEDFORWARD_MAX_RATE_LIMIT, VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = {0, 150}, PG_PID_PROFILE, offsetof(pidProfile_t, feedforward_max_rate_limit) },
{ PARAM_NAME_FEEDFORWARD_SMOOTH_FACTOR, VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 75 }, PG_PID_PROFILE, offsetof(pidProfile_t, feedforward_smooth_factor) },
{ PARAM_NAME_FEEDFORWARD_JITTER_FACTOR, VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 20 }, PG_PID_PROFILE, offsetof(pidProfile_t, feedforward_jitter_factor) },
{ PARAM_NAME_FEEDFORWARD_BOOST, VAR_INT8 | PROFILE_VALUE, .config.minmaxUnsigned = { -50, 50 }, PG_PID_PROFILE, offsetof(pidProfile_t, feedforward_boost) },
{ PARAM_NAME_FEEDFORWARD_MAX_RATE_LIMIT, VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 150 }, PG_PID_PROFILE, offsetof(pidProfile_t, feedforward_max_rate_limit) },
#endif

#ifdef USE_DYN_IDLE
Expand Down
4 changes: 2 additions & 2 deletions src/main/cms/cms_menu_imu.c
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Expand Up @@ -524,7 +524,7 @@ static uint8_t cmsx_iterm_relax_cutoff;

#ifdef USE_FEEDFORWARD
static uint8_t cmsx_feedforward_transition;
static uint8_t cmsx_feedforward_boost;
static int8_t cmsx_feedforward_boost;
static uint8_t cmsx_feedforward_averaging;
static uint8_t cmsx_feedforward_smooth_factor;
static uint8_t cmsx_feedforward_jitter_factor;
Expand Down Expand Up @@ -637,7 +637,7 @@ static const OSD_Entry cmsx_menuProfileOtherEntries[] = {
{ "FF AVERAGING", OME_TAB, NULL, &(OSD_TAB_t) { &cmsx_feedforward_averaging, 4, lookupTableFeedforwardAveraging} },
{ "FF SMOOTHNESS", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_feedforward_smooth_factor, 0, 75, 1 } },
{ "FF JITTER", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_feedforward_jitter_factor, 0, 20, 1 } },
{ "FF BOOST", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_feedforward_boost, 0, 50, 1 } },
{ "FF BOOST", OME_UINT8, NULL, &(OSD_INT8_t) { &cmsx_feedforward_boost, -50, 50, 1 } },
#endif
{ "ANGLE STR", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_angleStrength, 0, 200, 1 } },
{ "HORZN STR", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_horizonStrength, 0, 200, 1 } },
Expand Down
2 changes: 1 addition & 1 deletion src/main/flight/pid.h
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Expand Up @@ -208,7 +208,7 @@ typedef struct pidProfile_s {
uint8_t feedforward_averaging; // Number of packets to average when averaging is on
uint8_t feedforward_smooth_factor; // Amount of lowpass type smoothing for feedforward steps
uint8_t feedforward_jitter_factor; // Number of RC steps below which to attenuate feedforward
uint8_t feedforward_boost; // amount of setpoint acceleration to add to feedforward, 10 means 100% added
int8_t feedforward_boost; // setpoint acceleration added to feedforward, 10 means 100% added, higher is more than that
uint8_t feedforward_max_rate_limit; // Maximum setpoint rate percentage for feedforward

uint8_t dterm_lpf1_dyn_expo; // set the curve for dynamic dterm lowpass filter
Expand Down