Add arming disabled check if RPM filter enabled but DSHOT telemetry not working

If the RPM filter is enabled, requires all motors to have received a valid DSHOT telemetry frame before arming is allowed. Otherwise sets the arming disabled reason `ARMING_DISABLED_RPMFILTER`.

src/main/drivers/pwm_output.h

@@ -146,6 +146,7 @@ typedef struct {
     volatile bool isInput;
     volatile bool hasTelemetry;
     uint16_t dshotTelemetryValue;
+    bool dshotTelemetryActive;
 #ifdef USE_HAL_DRIVER
     LL_TIM_OC_InitTypeDef ocInitStruct;
     LL_TIM_IC_InitTypeDef icInitStruct;
@@ -253,6 +254,7 @@ bool pwmDshotCommandIsProcessing(void);
 uint8_t pwmGetDshotCommand(uint8_t index);
 bool pwmDshotCommandOutputIsEnabled(uint8_t motorCount);
 uint16_t getDshotTelemetry(uint8_t index);
+bool isDshotTelemetryActive(uint8_t index);
 
 #endif
 

src/main/drivers/pwm_output_dshot_shared.c

@@ -223,6 +223,7 @@ void pwmStartDshotMotorUpdate(uint8_t motorCount)
                 }
                 if (value != 0xffff) {
                     dmaMotors[i].dshotTelemetryValue = value;
+                    dmaMotors[i].dshotTelemetryActive = true;
                     if (i < 4) {
                         DEBUG_SET(DEBUG_DSHOT_RPM_TELEMETRY, i, value);
                     }
@@ -246,5 +247,10 @@ void pwmStartDshotMotorUpdate(uint8_t motorCount)
     }
 }
 
+bool isDshotTelemetryActive(uint8_t index)
+{
+    return dmaMotors[index].dshotTelemetryActive;
+}
+
 #endif
 #endif

src/main/fc/core.c

@@ -56,6 +56,8 @@
 #if defined(USE_GYRO_DATA_ANALYSE)
 #include "sensors/gyroanalyse.h"
 #endif
+#include "sensors/rpm_filter.h"
+
 #include "fc/config.h"
 #include "fc/controlrate_profile.h"
 #include "fc/core.h"
@@ -291,6 +293,26 @@ void updateArmingStatus(void)
         }
 #endif
 
+#ifdef USE_RPM_FILTER
+        // USE_RPM_FILTER will only be set if USE_DSHOT and USE_DSHOT_TELEMETRY are defined
+        // If dshot_bidir is anabled and any motor isn't providing telemetry, then disable arming
+        if (motorConfig()->dev.useDshotTelemetry
+           && (rpmFilterConfig()->gyro_rpm_notch_harmonics || rpmFilterConfig()->dterm_rpm_notch_harmonics)) {
+            bool dshotTelemetryActive = true;
+            for (uint8_t i = 0; i < getMotorCount(); i++) {
+                if (!isDshotTelemetryActive(i)) {
+                    dshotTelemetryActive = false;
+                    break;
+                }
+            }
+            if (!dshotTelemetryActive) {
+                setArmingDisabled(ARMING_DISABLED_RPMFILTER);
+            } else {
+                unsetArmingDisabled(ARMING_DISABLED_RPMFILTER);
+            }
+        }
+#endif
+
         if (IS_RC_MODE_ACTIVE(BOXPARALYZE)) {
             setArmingDisabled(ARMING_DISABLED_PARALYZE);
         }

src/main/fc/runtime_config.c

@@ -53,6 +53,7 @@ const char *armingDisableFlagNames[]= {
     "PARALYZE",
     "GPS",
     "RESCUE SW",
+    "RPMFILTER",
     "ARMSWITCH",
 };
 

src/main/fc/runtime_config.h

@@ -59,7 +59,8 @@ typedef enum {
     ARMING_DISABLED_PARALYZE        = (1 << 16),
     ARMING_DISABLED_GPS             = (1 << 17),
     ARMING_DISABLED_RESC            = (1 << 18),
-    ARMING_DISABLED_ARM_SWITCH      = (1 << 19), // Needs to be the last element, since it's always activated if one of the others is active when arming
+    ARMING_DISABLED_RPMFILTER       = (1 << 19),
+    ARMING_DISABLED_ARM_SWITCH      = (1 << 20), // Needs to be the last element, since it's always activated if one of the others is active when arming
 } armingDisableFlags_e;
 
 #define ARMING_DISABLE_FLAGS_COUNT (LOG2(ARMING_DISABLED_ARM_SWITCH) + 1)