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Fix Bug causing Dynamic Idle to fail if RPM filtering is turned off #12270

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merged 1 commit into from
Jan 31, 2023
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Fix Bug causing Dynamic Idle to fail if RPM filtering is turned off #12270

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4 changes: 2 additions & 2 deletions src/main/flight/rpm_filter.c
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Original file line number Diff line number Diff line change
Expand Up @@ -94,6 +94,8 @@ void rpmFilterInit(const rpmFilterConfig_t *config, const timeUs_t looptimeUs)
pt1FilterInit(&motorFreqLpf[i], pt1FilterGain(config->rpm_filter_lpf_hz, looptimeUs * 1e-6f));
}

erpmToHz = ERPM_PER_LSB / SECONDS_PER_MINUTE / (motorConfig()->motorPoleCount / 2.0f);

// if RPM Filtering is configured to be off
if (!config->rpm_filter_harmonics) {
return;
Expand All @@ -115,8 +117,6 @@ void rpmFilterInit(const rpmFilterConfig_t *config, const timeUs_t looptimeUs)
}
}

erpmToHz = ERPM_PER_LSB / SECONDS_PER_MINUTE / (motorConfig()->motorPoleCount / 2.0f);

const float loopIterationsPerUpdate = RPM_FILTER_DURATION_S / (looptimeUs * 1e-6f);
const float numNotchesPerAxis = getMotorCount() * rpmFilter.numHarmonics;
notchUpdatesPerIteration = ceilf(numNotchesPerAxis / loopIterationsPerUpdate); // round to ceiling
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