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AC_CustomControl: add documentation for PID notches and D feed-foward

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add advanced flag to PIDs and selectively compile advanced PID options
This commit is contained in:
Andy Piper
2023-11-21 13:26:23 +11:00
committed by Andrew Tridgell
parent c4dc6f6471
commit 952baf860c
5 changed files with 154 additions and 0 deletions
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libraries/AC_CustomControl/AC_CustomControl.cpp
+9
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@@ -184,4 +184,13 @@ void AC_CustomControl::log_switch(void) {
_custom_controller_active);
}
void AC_CustomControl::set_notch_sample_rate(float sample_rate)
{
#if AC_PID_ADVANCED_ENABLED
if (_backend != nullptr) {
_backend->set_notch_sample_rate(sample_rate);
}
#endif
}
#endif