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Fix Bug causing Dynamic Idle to fail if RPM filtering is turned off (#12270)

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Init erpmToHz even if RPM filtering is disabled

Fix for no RPM values sent to Dynamic Idle when RPM filtering was turned off
This commit is contained in:
ctzsnooze 2023-02-01 01:20:36 +11:00 • committed by GitHub
parent 74be33dfbc
commit 395e8e8983
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GPG key ID: 4AEE18F83AFDEB23
1 changed files with 2 additions and 2 deletions
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4
src/main/flight/rpm_filter.c
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@ -94,6 +94,8 @@ void rpmFilterInit(const rpmFilterConfig_t *config, const timeUs_t looptimeUs)
pt1FilterInit(&motorFreqLpf[i], pt1FilterGain(config->rpm_filter_lpf_hz, looptimeUs * 1e-6f)); pt1FilterInit(&motorFreqLpf[i], pt1FilterGain(config->rpm_filter_lpf_hz, looptimeUs * 1e-6f));
} }
erpmToHz = ERPM_PER_LSB / SECONDS_PER_MINUTE / (motorConfig()->motorPoleCount / 2.0f);
// if RPM Filtering is configured to be off // if RPM Filtering is configured to be off
if (!config->rpm_filter_harmonics) { if (!config->rpm_filter_harmonics) {
return; return;
@ -115,8 +117,6 @@ void rpmFilterInit(const rpmFilterConfig_t *config, const timeUs_t looptimeUs)
} }
} }
erpmToHz = ERPM_PER_LSB / SECONDS_PER_MINUTE / (motorConfig()->motorPoleCount / 2.0f);
const float loopIterationsPerUpdate = RPM_FILTER_DURATION_S / (looptimeUs * 1e-6f); const float loopIterationsPerUpdate = RPM_FILTER_DURATION_S / (looptimeUs * 1e-6f);
const float numNotchesPerAxis = getMotorCount() * rpmFilter.numHarmonics; const float numNotchesPerAxis = getMotorCount() * rpmFilter.numHarmonics;
notchUpdatesPerIteration = ceilf(numNotchesPerAxis / loopIterationsPerUpdate); // round to ceiling notchUpdatesPerIteration = ceilf(numNotchesPerAxis / loopIterationsPerUpdate); // round to ceiling