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Refactor Feedforward Angle and RC Smoothing - mashup of 12578 and 125…
…94 (betaflight#12605) * Refactor Feedforward Angle and RC Smoothing * update rc_smoothing at regular intervals * add Earth Ref to OSD, update pid and rate PG * Initialise filters correctly * refactoring to improve performance * Save 24 cycles in Horizon calculations, other optimisations At a cost of 40 bytes * save 25 cycles and 330 bytes in rc_smoothing * feedforward max rate improvements * typo fix * Karatebrot's review suggestions part one * Karatebrot's excellent suggestions part 2 * more efficient if we calculate inverse at init time Co-Authored-By: Jan Post <post@stud.tu-darmstadt.de> * Horizon delay, to ease it in when returning sticks to centre * fix unit tests after horizon changes Co-Authored-By: 4712 <4712@users.noreply.github.com> * horizon_delay_ms, default 500 * fix unit test for feedforward from setpointDelta * Final optimisations - thanks @KarateBrot for your advice * increase horizon level strength default to 75 now we have the delay * restore Makefile value which allowed local make test on mac --------- Co-authored-by: Jan Post <post@stud.tu-darmstadt.de> Co-authored-by: 4712 <4712@users.noreply.github.com>
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