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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 { typedef struct rpmFilter_s {
int activeHarmonicsCount;
float weights[RPM_FILTER_HARMONICS_MAX]; float weights[RPM_FILTER_HARMONICS_MAX];
float minHz; float minHz;
float maxHz; 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 notchUpdatesPerIteration;
FAST_DATA_ZERO_INIT static int motorIndex; FAST_DATA_ZERO_INIT static int motorIndex;
FAST_DATA_ZERO_INIT static int harmonicIndex; FAST_DATA_ZERO_INIT static int harmonicIndex;
FAST_DATA_ZERO_INIT static int activeHarmonicsCount;
void rpmFilterInit(const rpmFilterConfig_t *config, const timeUs_t looptimeUs) void rpmFilterInit(const rpmFilterConfig_t *config, const timeUs_t looptimeUs)
{ {
motorIndex = 0; motorIndex = 0;
harmonicIndex = 0; harmonicIndex = 0;
activeHarmonicsCount = 0; // disable RPM Filtering rpmFilter.activeHarmonicsCount = 0; // disable RPM Filtering
// if bidirectional DShot is not available // if bidirectional DShot is not available
if (!useDshotTelemetry) { 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++) { 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); rpmFilter.weights[n] = constrainf(config->rpm_filter_weights[n] / 100.0f, 0.0f, 1.0f);
if (rpmFilter.weights[n] > 0.0f) { 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 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 notchUpdatesPerIteration = ceilf(numNotchesPerAxis / loopIterationsPerUpdate); // round to ceiling
} }
@ -187,7 +187,7 @@ FAST_CODE float rpmFilterApply(const int axis, float value)
bool isRpmFilterEnabled(void) bool isRpmFilterEnabled(void)
{ {
return activeHarmonicsCount > 0; return rpmFilter.activeHarmonicsCount > 0;
} }
#endif // USE_RPM_FILTER #endif // USE_RPM_FILTER