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Improve accuracy of dT used to update RPM filter (#14150)

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Improve RPM filter accuracy by using the true looprate when updating it
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Kevin Plaizier 2025-01-20 13:26:52 -07:00 • committed by GitHub
parent 98b1b93199
commit 123faebacf
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1 changed files with 4 additions and 1 deletions
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src/main/flight/rpm_filter.c
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@ -121,6 +121,9 @@ FAST_CODE_NOINLINE void rpmFilterUpdate(void)
return; return;
} }
const float dtCompensation = schedulerGetCycleTimeMultiplier();
const float correctedLooptime = rpmFilter.looptimeUs * dtCompensation;
// update RPM notches // update RPM notches
for (int i = 0; i < notchUpdatesPerIteration; i++) { for (int i = 0; i < notchUpdatesPerIteration; i++) {
@ -143,7 +146,7 @@ FAST_CODE_NOINLINE void rpmFilterUpdate(void)
weight *= rpmFilter.weights[harmonicIndex]; weight *= rpmFilter.weights[harmonicIndex];
// update notch // update notch
biquadFilterUpdate(template, frequencyHz, rpmFilter.looptimeUs, rpmFilter.q, FILTER_NOTCH, weight); biquadFilterUpdate(template, frequencyHz, correctedLooptime, rpmFilter.q, FILTER_NOTCH, weight);
// copy notch properties to corresponding notches on PITCH and YAW // copy notch properties to corresponding notches on PITCH and YAW
for (int axis = 1; axis < XYZ_AXIS_COUNT; axis++) { for (int axis = 1; axis < XYZ_AXIS_COUNT; axis++) {