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add ffc controller

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tuxmonkey
2026-02-12 01:12:05 +08:00
parent 8458a4ffe7
commit 75f7c3defd
2 changed files with 6 additions and 4 deletions
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3
User_Code/module/algorithm/controller/ffc/ffc.c
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@@ -44,7 +44,7 @@ float FFC_FeedForwardCalc(FFC_Handle_t *handle, float target) {
handle->result = abs_clip(handle->result, handle->configs.MaxOutput);
// 更新历史状态
// 注意：原 C++ 代码中先更新 LAST 再更新 LLAST，这会导致移位寄存器逻辑变为 LLAST = (新的)LAST。
// 注意：原代码中先更新 LAST 再更新 LLAST，这会导致移位寄存器逻辑变为 LLAST = (新的)LAST。
// 为了保持转换的一致性，这里保留原代码的顺序。
handle->set[FFC_LAST] = handle->set[FFC_NOW];
handle->set[FFC_LLAST] = handle->set[FFC_LAST];
@@ -70,7 +70,6 @@ void FFC_CheckPointer(FFC_Handle_t *handle, float *get) {
void FFC_Init(FFC_Handle_t *handle, FFC_Init_Config_s config, float *get) {
if (handle == NULL) return;
// 对应 C++: FFCSetConfig(config, get)
FFC_SetConfig(handle, config);
if (get != NULL) {
FFC_CheckPointer(handle, get);