src/main/flight/feedforward.h

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #pragma once
  22
  23 #include <stdint.h>
  24
  25 #include "common/axis.h"
  26 #include "flight/pid.h"
  27
  28 uint8_t getFeedforwardDuplicateCount(int axis);
  29 void feedforwardInit(const pidProfile_t *pidProfile);
  30 float feedforwardApply(int axis, bool newRcFrame, feedforwardAveraging_t feedforwardAveraging, const float setpoint, bool rawSetpointIsSmoothed);
  31 float applyFeedforwardLimit(int axis, float value, float Kp, float currentPidSetpoint);
  32 bool shouldApplyFeedforwardLimits(int axis);