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Add dshot command queue and limit max notch filter frequency

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This commit is contained in:
Thorsten Laux 2019-01-12 12:22:14 +01:00
parent 10ae62efed
commit 7859e6d540
8 changed files with 93 additions and 43 deletions
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12
src/main/fc/init.c
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@ -214,10 +214,8 @@ void activateDshotTelemetry(struct dispatchEntry_s* self)
if (!ARMING_FLAG(ARMED))
{
pwmWriteDshotCommand(
255, getMotorCount(),
motorConfig()->dev.useDshotTelemetry ?
DSHOT_CMD_SIGNAL_LINE_CONTINUOUS_ERPM_TELEMETRY :
DSHOT_CMD_SIGNAL_LINE_TELEMETRY_DISABLE, true);
255, getMotorCount(), motorConfig()->dev.useDshotTelemetry ?
DSHOT_CMD_SIGNAL_LINE_CONTINUOUS_ERPM_TELEMETRY : DSHOT_CMD_SIGNAL_LINE_TELEMETRY_DISABLE, false);
}
}
@ -772,8 +770,10 @@ void init(void)
// TODO: potentially delete when feature is stable. Activation when arming is enough for flight.
#if defined(USE_DSHOT) && defined(USE_DSHOT_TELEMETRY)
dispatchEnable();
dispatchAdd(&activateDshotTelemetryEntry, 5000000);
if (motorConfig()->dev.useDshotTelemetry) {
dispatchEnable();
dispatchAdd(&activateDshotTelemetryEntry, 5000000);
}
#endif
fcTasksInit();