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Fix ESC-Sensor RPM (#13286)

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* Fix ESC-Sensor RPM

* Fixes per review from KarateBrot

* Fixes per review from NerdCopter

* Forgot to add init.c
This commit is contained in:
Mark Haslinghuis 2024-01-13 13:42:12 +01:00 • committed by GitHub
parent 3e5d96158b
commit 90ab9f374b
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2 changed files with 10 additions and 7 deletions
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15
src/main/drivers/dshot.c
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@ -152,16 +152,19 @@ FAST_DATA_ZERO_INIT static float dshotRpm[MAX_SUPPORTED_MOTORS];
void initDshotTelemetry(const timeUs_t looptimeUs) void initDshotTelemetry(const timeUs_t looptimeUs)
{ {
// if bidirectional DShot is not available // if bidirectional DShot is not available
if (!motorConfig()->dev.useDshotTelemetry) { if (!motorConfig()->dev.useDshotTelemetry && !featureIsEnabled(FEATURE_ESC_SENSOR)) {
return; return;
} }
// init LPFs for RPM data // erpmToHz is used by bidir dshot and ESC telemetry
for (int i = 0; i < getMotorCount(); i++) {
pt1FilterInit(&motorFreqLpf[i], pt1FilterGain(rpmFilterConfig()->rpm_filter_lpf_hz, looptimeUs * 1e-6f));
}
erpmToHz = ERPM_PER_LSB / SECONDS_PER_MINUTE / (motorConfig()->motorPoleCount / 2.0f); erpmToHz = ERPM_PER_LSB / SECONDS_PER_MINUTE / (motorConfig()->motorPoleCount / 2.0f);
if (motorConfig()->dev.useDshotTelemetry) {
// init LPFs for RPM data
for (int i = 0; i < getMotorCount(); i++) {
pt1FilterInit(&motorFreqLpf[i], pt1FilterGain(rpmFilterConfig()->rpm_filter_lpf_hz, looptimeUs * 1e-6f));
}
}
} }
static uint32_t dshot_decode_eRPM_telemetry_value(uint16_t value) static uint32_t dshot_decode_eRPM_telemetry_value(uint16_t value)

2
src/main/fc/init.c
View file

@ -694,7 +694,7 @@ void init(void)
// Now reset the targetLooptime as it's possible for the validation to change the pid_process_denom // Now reset the targetLooptime as it's possible for the validation to change the pid_process_denom
gyroSetTargetLooptime(pidConfig()->pid_process_denom); gyroSetTargetLooptime(pidConfig()->pid_process_denom);
#ifdef USE_DSHOT_TELEMETRY #if defined(USE_DSHOT_TELEMETRY) || defined(USE_ESC_SENSOR)
// Initialize the motor frequency filter now that we have a target looptime // Initialize the motor frequency filter now that we have a target looptime
initDshotTelemetry(gyro.targetLooptime); initDshotTelemetry(gyro.targetLooptime);
#endif #endif