allow negative ff-boost

High ff brings overshoot and undesirable feel. This allows ff boost to be negative which might allow for even more accurate stick tracking and less overshoot, needs testing. Perhaps normal ff should also be allowed to be negative with positive boost. At that point boost and FF would need to be seperated.

Author: Quick-Flash

src/main/cli/settings.c

@@ -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
@@ -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

src/main/cms/cms_menu_imu.c

@@ -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;
@@ -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  }    },

src/main/flight/pid.h

@@ -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