add filter to the reported <odrv>.ibus

Firmware/MotorControl/low_level.cpp

@@ -636,7 +636,7 @@ void update_brake_current() {
     // Special handling to avoid the case 0.0/0.0 == NaN.
     Ibus_sum += brake_duty ? (brake_duty * vbus_voltage / odrv.config_.brake_resistance) : 0.0f;
 
-    ibus_ = Ibus_sum;
+    ibus_ += odrv.ibus_report_filter_k_ * (Ibus_sum - ibus_);
 
     if (Ibus_sum > odrv.config_.dc_max_positive_current) {
         low_level_fault(Motor::ERROR_DC_BUS_OVER_CURRENT);

Firmware/MotorControl/odrive_main.h

@@ -239,6 +239,7 @@ public:
 
     float& vbus_voltage_ = ::vbus_voltage; // TODO: make this the actual variable
     float& ibus_ = ::ibus_; // TODO: make this the actual variable
+    float ibus_report_filter_k_ = 1.0f;
 
     const uint64_t& serial_number_ = ::serial_number;
 

Firmware/odrive-interface.yaml

@@ -28,6 +28,12 @@ interfaces:
           This value is equal to the sum of the motor currents and the brake resistor currents.
           The motor currents are measured, the brake resistor current is calculated based on
           `config.brake_resistance`.
+      ibus_report_filter_k:
+          type: float32
+          doc: |
+            Filter gain for the reported `ibus`. Set to a value below 1.0 to get a smoother
+            line when plotting `ibus`. Set to 1.0 to disable. This filter is only applied to
+            the reported value and not for internal calculations.
       serial_number: readonly uint64
       hw_version_major: readonly uint8
       hw_version_minor: readonly uint8