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Improve dshot_edt_always_decode condition checking logic

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This commit is contained in:
kedeng 2025-07-11 12:38:39 +08:00
parent d5f8526ae6
commit b5b3de1cb1
1 changed files with 2 additions and 2 deletions
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4
src/main/drivers/dshot.c
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@ -181,7 +181,7 @@ void initDshotTelemetry(const timeUs_t looptimeUs)
// erpmToHz is used by bidir dshot and ESC telemetry
erpmToHz = ERPM_PER_LSB / SECONDS_PER_MINUTE / (motorConfig()->motorPoleCount / 2.0f);
edtAlwaysDecode = motorConfig()->dev.useDshotEdtAlwaysDecode == DSHOT_EDT_ALWAYS_DECODE_ON;
edtAlwaysDecode = motorConfig()->dev.useDshotEdtAlwaysDecode;
#ifdef USE_RPM_FILTER
if (motorConfig()->dev.useDshotTelemetry) {
@ -216,7 +216,7 @@ static void dshot_decode_telemetry_value(uint8_t motorIndex, uint32_t *pDecoded,
{
uint16_t value = dshotTelemetryState.motorState[motorIndex].rawValue;
bool isEdtEnabled = (dshotTelemetryState.motorState[motorIndex].telemetryTypes & DSHOT_EXTENDED_TELEMETRY_MASK) != 0;
isEdtEnabled |= edtAlwaysDecode;
isEdtEnabled = isEdtEnabled || (edtAlwaysDecode == DSHOT_EDT_ALWAYS_DECODE_ON);
// https://github.com/bird-sanctuary/extended-dshot-telemetry
// Extract telemetry type field and check for eRPM conditions in one operation