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Plane: generalise ESC telemetry to allow harmonic notch handling with other ESCs

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Andy Piper 2021-02-23 22:07:13 +00:00 committed by Andrew Tridgell
parent fca6925129
commit 8e744a4a25
1 changed files with 3 additions and 3 deletions
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6
ArduPlane/system.cpp
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@ -477,12 +477,12 @@ void Plane::update_dynamic_notch()
ins.update_harmonic_notch_freq_hz(ref_freq); ins.update_harmonic_notch_freq_hz(ref_freq);
} }
break; break;
#ifdef HAVE_AP_BLHELI_SUPPORT #if HAL_WITH_ESC_TELEM
case HarmonicNotchDynamicMode::UpdateBLHeli: // BLHeli based tracking case HarmonicNotchDynamicMode::UpdateBLHeli: // BLHeli based tracking
// set the harmonic notch filter frequency scaled on measured frequency // set the harmonic notch filter frequency scaled on measured frequency
if (ins.has_harmonic_option(HarmonicNotchFilterParams::Options::DynamicHarmonic)) { if (ins.has_harmonic_option(HarmonicNotchFilterParams::Options::DynamicHarmonic)) {
float notches[INS_MAX_NOTCHES]; float notches[INS_MAX_NOTCHES];
const uint8_t num_notches = AP_BLHeli::get_singleton()->get_motor_frequencies_hz(INS_MAX_NOTCHES, notches); const uint8_t num_notches = AP::esc_telem().get_motor_frequencies_hz(INS_MAX_NOTCHES, notches);
for (uint8_t i = 0; i < num_notches; i++) { for (uint8_t i = 0; i < num_notches; i++) {
notches[i] = MAX(ref_freq, notches[i]); notches[i] = MAX(ref_freq, notches[i]);
@ -495,7 +495,7 @@ void Plane::update_dynamic_notch()
ins.update_harmonic_notch_freq_hz(ref_freq); ins.update_harmonic_notch_freq_hz(ref_freq);
} }
} else { } else {
ins.update_harmonic_notch_freq_hz(MAX(ref_freq, AP_BLHeli::get_singleton()->get_average_motor_frequency_hz() * ref)); ins.update_harmonic_notch_freq_hz(MAX(ref_freq, AP::esc_telem().get_average_motor_frequency_hz() * ref));
} }
break; break;
#endif #endif