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[actuators] compute the real RPM from electrical RPM from DSHOT telemetry (#3564)
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Configured with the number of poles (default 14, which is common for
most motors).
The update of RPM and other parameters is done in the actuators commit
function to have the fastest rate, instead of being done in the ESC
message send function.
This commit is contained in:
Gautier Hattenberger
2025-11-17 17:57:18 +01:00
committed by GitHub
parent 3397687f3a
commit b2a1859cf6
3 changed files with 28 additions and 24 deletions
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conf/modules/actuators_dshot.xml
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@@ -17,6 +17,7 @@
<configure name="DSHOT_BIDIR" value="FALSE" description="Bidirectionnal DSHOT for fast rpm feedback"/>
<define name="DSHOT_SPEED" value="600" description="DSHOT speed (150,300,600,1200)"/>
<configure name="DSHOT1_GPT_TIM" value="7" description="GPT driver used for telemetry timeout"/>
<define name="DSHOT_MOTOR_POLES" value="14" description="number of motor poles to compute real RPM from eRPM"/>
</doc>
<dep>
<depends>actuators,@commands</depends>