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move activeHarmonicsCount into rpmFilter_s

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This commit is contained in:
mituritsyn 2025-06-25 19:03:32 +02:00
parent ce95faf31a
commit 9a1593b78e
1 changed files with 5 additions and 5 deletions
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10
src/main/flight/rpm_filter.c
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@ -46,6 +46,7 @@
typedef struct rpmFilter_s {
int activeHarmonicsCount;
float weights[RPM_FILTER_HARMONICS_MAX];
float minHz;
float maxHz;
@ -64,13 +65,12 @@ FAST_DATA_ZERO_INIT static rpmFilter_t rpmFilter;
FAST_DATA_ZERO_INIT static int notchUpdatesPerIteration;
FAST_DATA_ZERO_INIT static int motorIndex;
FAST_DATA_ZERO_INIT static int harmonicIndex;
FAST_DATA_ZERO_INIT static int activeHarmonicsCount;
void rpmFilterInit(const rpmFilterConfig_t *config, const timeUs_t looptimeUs)
{
motorIndex = 0;
harmonicIndex = 0;
activeHarmonicsCount = 0; // disable RPM Filtering
rpmFilter.activeHarmonicsCount = 0; // disable RPM Filtering
// if bidirectional DShot is not available
if (!useDshotTelemetry) {
@ -80,7 +80,7 @@ void rpmFilterInit(const rpmFilterConfig_t *config, const timeUs_t looptimeUs)
for (int n = 0; n < RPM_FILTER_HARMONICS_MAX; n++) {
rpmFilter.weights[n] = constrainf(config->rpm_filter_weights[n] / 100.0f, 0.0f, 1.0f);
if (rpmFilter.weights[n] > 0.0f) {
activeHarmonicsCount++;
rpmFilter.activeHarmonicsCount++;
}
}
@ -105,7 +105,7 @@ void rpmFilterInit(const rpmFilterConfig_t *config, const timeUs_t looptimeUs)
}
const float loopIterationsPerUpdate = RPM_FILTER_DURATION_S / (looptimeUs * 1e-6f);
const float numNotchesPerAxis = getMotorCount() * activeHarmonicsCount;
const float numNotchesPerAxis = getMotorCount() * rpmFilter.activeHarmonicsCount;
notchUpdatesPerIteration = ceilf(numNotchesPerAxis / loopIterationsPerUpdate); // round to ceiling
}
@ -187,7 +187,7 @@ FAST_CODE float rpmFilterApply(const int axis, float value)
bool isRpmFilterEnabled(void)
{
return activeHarmonicsCount > 0;
return rpmFilter.activeHarmonicsCount > 0;
}
#endif // USE_RPM_FILTER