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@ -39,7 +39,7 @@
@@ -39,7 +39,7 @@
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#define POSCONTROL_ACTIVE_TIMEOUT_MS 200 // position controller is considered active if it has been called within the past 0.2 seconds
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#define POSCONTROL_VEL_ERROR_CUTOFF_FREQ 4.0f // 4hz low-pass filter on velocity error
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#define POSCONTROL_THROTTLE_CUTOFF_FREQ 2.0f // 2hz low-pass filter on accel error
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#define POSCONTROL_THROTTLE_CUTOFF_FREQ 2.0f // 2hz low-pass filter on accel error
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#define POSCONTROL_JERK_LIMIT_CMSSS 1700.0f // 17m/s/s/s jerk limit on horizontal acceleration
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#define POSCONTROL_ACCEL_FILTER_HZ 5.0f // 5hz low-pass filter on acceleration
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