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Merge pull request #11847 from damosvil/fix/edt_cleanup_upon_tryArm

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Fix for old telemetry sent to RPM filter during a re-arming sequence
This commit is contained in:
J Blackman 2022-09-27 08:42:27 +10:00 • committed by GitHub
commit f65317324d
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3 changed files with 9 additions and 0 deletions
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6
src/main/drivers/dshot.c
View file

@ -23,6 +23,7 @@
#include <stdbool.h>
#include <stdint.h>
#include <math.h>
#include <string.h>
#include "platform.h"
@ -178,6 +179,11 @@ dshotTelemetryType_t dshot_get_telemetry_type_to_decode(uint8_t motorIndex)
return type;
}
void dshotCleanTelemetryData(void)
{
memset(dshotTelemetryState.motorState, 0, MAX_SUPPORTED_MOTORS * sizeof(dshotTelemetryMotorState_t));
}
FAST_CODE void dshotUpdateTelemetryData(uint8_t motorIndex, dshotTelemetryType_t type, uint16_t value)
{
// Update telemetry data

1
src/main/drivers/dshot.h
View file

@ -117,5 +117,6 @@ void validateAndfixMotorOutputReordering(uint8_t *array, const unsigned size);
dshotTelemetryType_t dshot_get_telemetry_type_to_decode(uint8_t motorIndex);
uint32_t dshot_decode_telemetry_value(uint32_t value, dshotTelemetryType_t *type);
void dshotCleanTelemetryData(void);
void dshotUpdateTelemetryData(uint8_t motorIndex, dshotTelemetryType_t type, uint16_t value);

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

@ -509,9 +509,11 @@ void tryArm(void)
return;
}
#if defined(USE_ESC_SENSOR) && defined(USE_DSHOT_TELEMETRY)
// Try to activate extended DSHOT telemetry only if no esc sensor exists and dshot telemetry is active
if (isMotorProtocolDshot() && !featureIsEnabled(FEATURE_ESC_SENSOR) && motorConfig()->dev.useDshotTelemetry) {
dshotCleanTelemetryData();
dshotCommandWrite(ALL_MOTORS, getMotorCount(), DSHOT_CMD_EXTENDED_TELEMETRY_ENABLE, DSHOT_CMD_TYPE_INLINE);
}
#endif