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Refactor RPM Filter (#11765)

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* Refactor RPM Filter

* Refactor RPM Filter parameter group
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Jan Post 2022-11-12 10:39:21 +01:00 • committed by GitHub
parent 9024bfcfd9
commit 931c982a3b
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8 changed files with 194 additions and 171 deletions
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src/main/flight/mixer.c
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@ -222,8 +222,8 @@ static void calculateThrottleAndCurrentMotorEndpoints(timeUs_t currentTimeUs)
#ifdef USE_DYN_IDLE
if (mixerRuntime.dynIdleMinRps > 0.0f) {
const float maxIncrease = isAirmodeActivated() ? mixerRuntime.dynIdleMaxIncrease : 0.05f;
float minRps = rpmMinMotorFrequency();
DEBUG_SET(DEBUG_DYN_IDLE, 3, lrintf(minRps * 10));
float minRps = getMinMotorFrequency();
DEBUG_SET(DEBUG_DYN_IDLE, 3, lrintf(minRps * 10.0f));
float rpsError = mixerRuntime.dynIdleMinRps - minRps;
// PT1 type lowpass delay and smoothing for D
minRps = mixerRuntime.prevMinRps + mixerRuntime.minRpsDelayK * (minRps - mixerRuntime.prevMinRps);