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Code Issues Wiki Activity

Disallow dual gyro in "BOTH" mode if RPM filter enabled

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RPM Filter currently doesn't support dual-gyro running in "BOTH" mode. Switch to the "FIRST" gyro if configured for "BOTH" and RPM filter is enabled.

Once RPM filter is updated to support dual-gyro using both sensors then this check should be removed.
This commit is contained in:
Bruce Luckcuck 2019-03-29 08:53:34 -04:00
parent 5c75974415
commit 3fdb0e2b2e
4 changed files with 18 additions and 7 deletions
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8
src/main/fc/config.c
View file

@ -461,6 +461,14 @@ static void validateAndFixConfig(void)
} }
#endif #endif
// Temporary workaround until RPM Filter supports dual-gyro using both sensors
// Once support is added remove this block
#if defined(USE_MULTI_GYRO) && defined(USE_RPM_FILTER)
if (gyroConfig()->gyro_to_use == GYRO_CONFIG_USE_GYRO_BOTH && isRpmFilterEnabled()) {
gyroConfigMutable()->gyro_to_use = GYRO_CONFIG_USE_GYRO_1;
}
#endif
#if defined(TARGET_VALIDATECONFIG) #if defined(TARGET_VALIDATECONFIG)
targetValidateConfiguration(); targetValidateConfiguration();
#endif #endif

11
src/main/fc/core.c
View file

@ -296,13 +296,10 @@ void updateArmingStatus(void)
#ifdef USE_RPM_FILTER #ifdef USE_RPM_FILTER
// USE_RPM_FILTER will only be defined if USE_DSHOT and USE_DSHOT_TELEMETRY are defined // USE_RPM_FILTER will only be defined if USE_DSHOT and USE_DSHOT_TELEMETRY are defined
// If the RPM filter is anabled and any motor isn't providing telemetry, then disable arming // If the RPM filter is anabled and any motor isn't providing telemetry, then disable arming
if (motorConfig()->dev.useDshotTelemetry if (isRpmFilterEnabled() && !isDshotTelemetryActive()) {
&& (rpmFilterConfig()->gyro_rpm_notch_harmonics || rpmFilterConfig()->dterm_rpm_notch_harmonics)) { setArmingDisabled(ARMING_DISABLED_RPMFILTER);
if (!isDshotTelemetryActive()) { } else {
setArmingDisabled(ARMING_DISABLED_RPMFILTER); unsetArmingDisabled(ARMING_DISABLED_RPMFILTER);
} else {
unsetArmingDisabled(ARMING_DISABLED_RPMFILTER);
}
} }
#endif #endif

5
src/main/sensors/rpm_filter.c
View file

@ -209,4 +209,9 @@ FAST_CODE_NOINLINE void rpmFilterUpdate()
} }
} }
bool isRpmFilterEnabled(void)
{
return (motorConfig()->dev.useDshotTelemetry && (rpmFilterConfig()->gyro_rpm_notch_harmonics || rpmFilterConfig()->dterm_rpm_notch_harmonics));
}
#endif #endif

1
src/main/sensors/rpm_filter.h
View file

@ -42,3 +42,4 @@ void rpmFilterInit(const rpmFilterConfig_t *config);
float rpmFilterGyro(int axis, float values); float rpmFilterGyro(int axis, float values);
float rpmFilterDterm(int axis, float values); float rpmFilterDterm(int axis, float values);
void rpmFilterUpdate(); void rpmFilterUpdate();
bool isRpmFilterEnabled(void);